Autonomous Ocean World Exploration: Advancement of a Software Testbed

The search for life signs and potentially habitable bodies in our solar system and beyond is one of NASA’s top priorities. The prime destinations for such exploration are bodies containing liquid water, such as Jupiter’s moon Europa and Saturn’s moon Enceladus. Initial missions to these “ocean worlds” will be robotic, and because of long communication lags and blackouts, harsh environments, and limited battery life, a high degree of onboard autonomy will be required. To this end NASA has developed the Ocean Worlds Autonomy Testbed for Exploration, Research, and Simulation (OceanWATERS), a software testbed for surface mission autonomy. Under grants from NASA’s Autonomous Robotics Research for Ocean Worlds (ARROW) and Concepts for Ocean worlds Life Detection Technology (COLDTech) programs, collectively 6 research teams at universities and companies across the United States have developed autonomy solutions using OceanWATERS, tackling a variety of surface mission challenges and employing state-of-the-art AI-based solutions. This paper provides a self-contained high-level description of OceanWATERS while detailing enhancements made since its 2020 release. It provides a high-level summary of the projects undertaken by participants in the ARROW and COLDTech programs and how these efforts have helped shape OceanWATERS. Finally, potential future work and directions for the testbed are listed.