Mixed-Initiative Constraint-Based Activity Planning for Mars Exploration Rovers

In January, 2004, two NASA rovers, named Spirit and Opportunity, successfully landed on Mars, starting an unprecedented exploration of the Martian surface. Power and thermal concerns constrained the duration of this mission, leading to an aggressive plan for commanding both rovers every day. As part of the process for generating these command loads, the MAPGEN tool provides engineers and scientists an intelligent activity planning tool that allows them to more effectively generate complex plans that maximize the science return each day. The key to'the effectiveness of the MAPGEN tool is an underlying artificial intelligence plan and constraint reasoning engine. In this paper we outline the design and functionality of the MAEPGEN tool and focus on some of the key capabilities it offers to the MER mission engineers.