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Using Planning, Scheduling and Execution for Autonomous Mars Rover OperationsWith each new rover mission to Mars, rovers are traveling significantly longer distances. This distance increase raises not only the opportunities for science data collection, but also amplifies the amount of environment and rover state uncertainty that must be handled in rover operations. This paper describes how planning, scheduling and execution techniques can be used onboard a rover to autonomously generate and execute rover activities and in particular to handle new science opportunities that have been identified dynamically. We also discuss some of the particular challenges we face in supporting autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations. Finally, we describe our experiences in testing this work using several Mars rover prototypes in a realistic environment.
Document ID
20080006778
Document Type
Preprint (Draft being sent to journal)
External Source(s)
Authors
Estlin, Tara A. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Gaines, Daniel M. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Chouinard, Caroline M. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Fisher, Forest W. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Castano, Rebecca (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Judd, Michele J. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Nesnas, Issa A. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
June 6, 2006
Subject Category
Cybernetics, Artificial Intelligence and Robotics
Meeting Information
International Conference on Automated Planning and Scheduling(Windermere)
Distribution Limits
Public
Copyright
Other
Keywords
automated rover operations
planning
scheduling