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VIPER: Virtual Intelligent Planetary Exploration RoverSimulation and visualization of rover behavior are critical capabilities for scientists and rover operators to construct, test, and validate plans for commanding a remote rover. The VIPER system links these capabilities. using a high-fidelity virtual-reality (VR) environment. a kinematically accurate simulator, and a flexible plan executive to allow users to simulate and visualize possible execution outcomes of a plan under development. This work is part of a larger vision of a science-centered rover control environment, where a scientist may inspect and explore the environment via VR tools, specify science goals, and visualize the expected and actual behavior of the remote rover. The VIPER system is constructed from three generic systems, linked together via a minimal amount of customization into the integrated system. The complete system points out the power of combining plan execution, simulation, and visualization for envisioning rover behavior; it also demonstrates the utility of developing generic technologies. which can be combined in novel and useful ways.
Document ID
20020011683
Document Type
Preprint (Draft being sent to journal)
Authors
Edwards, Laurence
(NASA Ames Research Center Moffett Field, CA United States)
Flueckiger, Lorenzo
(QSS Group, Inc. United States)
Nguyen, Laurent
(NASA Ames Research Center Moffett Field, CA United States)
Washington, Richard
(Research Inst. for Advanced Computer Science Moffett Field, CA United States)
Date Acquired
September 7, 2013
Publication Date
January 1, 2001
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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