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  • 1
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    Planning for rover opportunistic science (2004)
    In:  Other Sources
    Details
    Publication Date: 2018-06-11
    Description: The Mars Exploration Rover Spirit recently set a record for the furthest distance traveled in a single sol on Mars. Future planetary exploration missions are expected to use even longer drives to position rovers in areas of high scientific interest. This increase provides the potential for a large rise in the number of new science collection opportunities as the rover traverses the Martian surface. In this paper, we describe the OASIS system, which provides autonomous capabilities for dynamically identifying and pursuing these science opportunities during longrange traverses. OASIS uses machine learning and planning and scheduling techniques to address this goal. Machine learning techniques are applied to analyze data as it is collected and quickly determine new science gods and priorities on these goals. Planning and scheduling techniques are used to alter the behavior of the rover so that new science measurements can be performed while still obeying resource and other mission constraints. We will introduce OASIS and describe how planning and scheduling algorithms support opportunistic science.
    Type: International Workshop on Planning and Scheduling for Space; Darmstadt; Germany
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  • 2
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    Continuous planning for an autonomous rover (2004)
    In:  Other Sources
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    Publication Date: 2018-06-11
    Format: text
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  • 3
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    Grid Visualization Tool (2005)
    In:  CASI
    Details
    Publication Date: 2019-07-12
    Description: The Grid Visualization Tool (GVT) is a computer program for displaying the path of a mobile robotic explorer (rover) on a terrain map. The GVT reads a map-data file in either portable graymap (PGM) or portable pixmap (PPM) format, representing a gray-scale or color map image, respectively. The GVT also accepts input from path-planning and activity-planning software. From these inputs, the GVT generates a map overlaid with one or more rover path(s), waypoints, locations of targets to be explored, and/or target-status information (indicating success or failure in exploring each target). The display can also indicate different types of paths or path segments, such as the path actually traveled versus a planned path or the path traveled to the present position versus planned future movement along a path. The program provides for updating of the display in real time to facilitate visualization of progress. The size of the display and the map scale can be changed as desired by the user. The GVT was written in the C++ language using the Open Graphics Library (OpenGL) software. It has been compiled for both Sun Solaris and Linux operating systems.
    Keywords: Man/System Technology and Life Support
    Type: NPO-40303 , NASA Tech Briefs, October 2005; 16
    Format: application/pdf
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  • 4
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    Software for Automation of Real-Time Agents, Version 2 (2005)
    In:  CASI
    Details
    Publication Date: 2019-07-12
    Description: Version 2 of Closed Loop Execution and Recovery (CLEaR) has been developed. CLEaR is an artificial intelligence computer program for use in planning and execution of actions of autonomous agents, including, for example, Deep Space Network (DSN) antenna ground stations, robotic exploratory ground vehicles (rovers), robotic aircraft (UAVs), and robotic spacecraft. CLEaR automates the generation and execution of command sequences, monitoring the sequence execution, and modifying the command sequence in response to execution deviations and failures as well as new goals for the agent to achieve. The development of CLEaR has focused on the unification of planning and execution to increase the ability of the autonomous agent to perform under tight resource and time constraints coupled with uncertainty in how much of resources and time will be required to perform a task. This unification is realized by extending the traditional three-tier robotic control architecture by increasing the interaction between the software components that perform deliberation and reactive functions. The increase in interaction reduces the need to replan, enables earlier detection of the need to replan, and enables replanning to occur before an agent enters a state of failure.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: NPO-30745 , NASA Tech Briefs, September 2005; 17
    Format: application/pdf
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  • 5
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    CASPER Version 2.0 (2007)
    In:  CASI
    Details
    Publication Date: 2019-07-12
    Description: CASPER is designed to perform automated planning of interdependent activities within a system subject to requirements, constraints, and limitations on resources. In contradistinction to the traditional concept of batch planning followed by execution, CASPER implements a concept of continuous planning and replanning in response to unanticipated changes (including failures), integrated with execution. Improvements over other, similar software that have been incorporated into CASPER version 2.0 include an enhanced executable interface to facilitate integration with a wide range of execution software systems and supporting software libraries; features to support execution while reasoning about urgency, importance, and impending deadlines; features that enable accommodation to a wide range of computing environments that include various central processing units and random- access-memory capacities; and improved generic time-server and time-control features.
    Keywords: Man/System Technology and Life Support
    Type: NPO-41987 , NASA Tech Briefs, September 2007; 62
    Format: application/pdf
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  • 6
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    Spatial Coverage Planning for a Planetary Rover (2008)
    In:  Other Sources
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    Publication Date: 2019-07-13
    Description: We are developing onboard planning and execution technologies to support the exploration and characterization of geological features by autonomous rovers. In order to generate high quality mission plans, an autonomous rover must reason about the relative importance of the observations it can perform. In this paper we look at the scientific criteria of selecting observations that improve the quality of the area covered by samples. Our approach makes use of a priori information, if available, and allows scientists to mark sub-regions of the area with relative priorities for exploration. We use an efficient algorithm for prioritizing observations based on spatial coverage that allows the system to update observation rankings as new information is gained during execution.
    Keywords: Ground Support Systems and Facilities (Space); Cybernetics, Artificial Intelligence and Robotics
    Type: 2008 IEEE International Conference on Robotics and Automation (ICRA 2008); May 19, 2008 - May 23, 2008; Pasadena, CA; United States
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  • 7
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    Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations (2006)
    In:  Other Sources
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    Publication Date: 2019-07-13
    Description: 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.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: International Conference on Automated Planning and Scheduling; Jun 06, 2006 - Jun 07, 2006; Windermere; United Kingdom
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  • 8
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    Opportunistic Planning and Execution for Planetary Exploration (2006)
    In:  Other Sources
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    Publication Date: 2019-07-13
    Description: We are developing technologies to increase the autonomous capabilities of future rover missions. Our objectives are to make rovers easier to command and to enable them to make more effective use of rover resources when problems arise or when things go better than expected. We will demonstrate OASIS (Onboard Analysis Science Investigation System) which combined planning and scheduling techniques with machine learning to enable rovers to perform robust and opportunistic science operations.
    Keywords: Lunar and Planetary Science and Exploration
    Type: International Conference on Automated Planning and Scheduling; Jun 06, 2006 - Jun 10, 2006; English Lake District; United Kingdom
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  • 9
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    Enabling Autonomous Rover Science through Dynamic Planning and Scheduling (2005)
    In:  Other Sources
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    Publication Date: 2019-07-13
    Description: This paper describes how dynamic planning and scheduling techniques can be used onboard a rover to autonomously adjust rover activities in support of science goals. These goals could be identified by scientists on the ground or could be identified by onboard data-analysis software. Several different types of dynamic decisions are described, including the handling of opportunistic science goals identified during rover traverses, preserving high priority science targets when resources, such as power, are unexpectedly over-subscribed, and dynamically adding additional, ground-specified science targets when rover actions are executed more quickly than expected. After describing our specific system approach, we discuss some of the particular challenges we have examined to support 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.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: IEEEAC Paper-1405, Version 3 , IEEE Aerospace Conference; Mar 05, 2005 - Mar 12, 2005; Big Sky, MT; United States
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  • 10
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    An Approach to Autonomous Operations for Remote Mobile Robotic Exploration (2003)
    In:  Other Sources
    Details
    Publication Date: 2019-07-13
    Description: This viewgraph presentation addresses the use of autonomy for remote mobile robotic exploration. The contents include; 1) Why Use Autonomy?; 2) What Are Some Options? JPL (Reasoning); 3) More Options.. . (Modeling); 4) The CLEaR Control System (Closed Loop Execution and Recovery); 5) Method of Response; 6) Overall Goal; 7) CLEaR in Action; 8) Initial Scenario; 9) Initial Scenario - Planned; 10) Unforeseen Events; and 11) Ongoing Research.
    Keywords: Lunar and Planetary Science and Exploration
    Type: IEEE Aerospace Conference; Mar 08, 2003 - Mar 15, 2003; Big Sky, MT; United States
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