Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations

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Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations

Estlin, Tara A. / Gaines, Daniel M. / Chouinard, Caroline M. / Fisher, Forest W. / Castano, Rebecca / Judd, Michele J. / Nesnas, Issa A.

Abstract

With 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.

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Document information

Title :

Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations

Contributors:

Estlin, Tara A. (author) / Gaines, Daniel M. (author) / Chouinard, Caroline M. (author) / Fisher, Forest W. (author) / Castano, Rebecca (author) / Judd, Michele J. (author) / Nesnas, Issa A. (author)

Conference:

International Conference on Automated Planning and Scheduling ; 2006 ; Windermere, United Kingdom

Publication date :

2006-06-06

Type of media :

Preprint

Type of material :

No indication

Language :

English

Keywords :

scheduling , Cybernetics, Artificial Intelligence And Robotics , planning , automated rover operations