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Spatial coverage planning and optimization for planetary exploration

Show simple item record Gaines, Daniel M. Estlin, Tara Chouinard, Caroline 2009-08-26T15:53:57Z 2009-08-26T15:53:57Z 2008-02-26
dc.identifier.citation iSAIRAS 2008, Los Angeles, California, February 2, 2007. en_US
dc.identifier.clearanceno 07-4216
dc.description.abstract We are developing onboard planning and scheduling technology to enable in situ robotic explorers, such as rovers and aerobots, to more effectively assist scientists in planetary exploration. In our current work, we are focusing on situations in which the robot is exploring large geographical features such as craters, channels or regional boundaries. In to develop valid and high quality plans, the robot must take into account a range of scientific and engineering constraints and preferences. We have developed a system that incorporates multiobjective optimization and planning allowing the robot to generate high quality mission operations plans that respect resource limitations and mission constraints while attempting to maximize science and engineering objectives. An important scientific objective for the exploration of geological features is selecting observations that spatially cover an area of interest. We have developed a metric to enable an in situ explorer to reason about and track the spatial coverage quality of a plan. We describe this technique and show how it is combined in the overall multiobjective optimization and planning algorithm. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2007. en_US
dc.subject onboard planning en_US
dc.subject execution en_US
dc.subject autonomy en_US
dc.title Spatial coverage planning and optimization for planetary exploration en_US
dc.type Preprint en_US

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