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Multi-Modal Active Perception for Autonomously Selecting Landing Sites on Icy Moons
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Author and Affiliation:
Arora, A.(Sydney Univ., Australia)
Furlong, P. M.(SGT, Inc., Moffett Field, CA, United States)
Wong, U.(SGT, Inc., Moffett Field, CA, United States)
Fong, T.(NASA Ames Research Center, Moffett Field, CA, United States)
Sukkarieh, S.(Sydney Univ., Australia)
Abstract: Selecting suitable landing sites is fundamental to achieving many mission objectives in planetary robotic lander missions. However, due to sensing limitations, landing sites which are both safe and scientifically valuable often cannot be determined reliably from orbit, particularly, in icy moon missions where orbital sensing data is noisy and incomplete. This paper presents an active perception approach to Entry Descent and Landing (EDL) which enables the lander to autonomously plan informative descent trajectories, acquire high quality sensing data during descent and exploit this additional information to select higher utility landing sites. Our approach consists of two components: probabilistic modeling of landing site features and approximate trajectory planning using a sampling based planner. The proposed framework allows the lander to plan long horizons paths and remain robust to noisy data. Results in simulated environments show large performance improvements over alternative approaches and show promise that our approach has strong potential to improve science return of not only icy moon missions but EDL systems in general.
Publication Date: Sep 11, 2017
Document ID:
20170011648
(Acquired Dec 18, 2017)
Subject Category: CYBERNETICS, ARTIFICIAL INTELLIGENCE AND ROBOTICS
Report/Patent Number: ARC-E-DAA-TN46287
Document Type: Conference Paper
Meeting Information: AIAA Space Forum 2017; 11-15 Sep. 2017; Orlando FL; United States
Meeting Sponsor: American Inst. of Aeronautics and Astronautics; Reston, VA, United States
Contract/Grant/Task Num: NNA14AA60C
Financial Sponsor: NASA Ames Research Center; Moffett Field, CA, United States
Organization Source: NASA Ames Research Center; Moffett Field, CA, United States
Description: 11p; In English
Distribution Limits: Unclassified; Publicly available; Unlimited
Rights: Copyright; Public use permitted
NASA Terms: ROBOTICS; LANDING SITES; DESCENT TRAJECTORIES; TRAJECTORY PLANNING; SPACE MISSIONS; HORIZON; MOON; DESCENT; DETECTION
Other Descriptors: LANDING SITE SELECTION; EDL; ACTIVE PERCETION; AUTONOMY
Miscellaneous Notes: AIAA SPACE Forum in Orlando Canceled Due to Hurricane Irma
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