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Supporting increased autonomy for a Mars Rover

Show simple item record Estlin, Tara Castano, Rebecca Gaines, Dan Bornstein, Ben Judd, Michele Anderson, Robert C. Nesnas, Issa 2009-08-26T16:01:39Z 2009-08-26T16:01:39Z 2008-02-26
dc.identifier.citation 9th International Symposium on Artificial Intelligence, Robotics and Space, Los Angeles, California, February 26, 2008. en_US
dc.identifier.clearanceno 07-4321
dc.description.abstract This paper presents an architecture and a set of technology for performing autonomous science and commanding for a planetary rover. The MER rovers have outperformed all expectations by lasting over 1100 sols (or Martian days), which is an order of magnitude longer than their original mission goal. The longevity of these vehicles will have significant effects on future mission goals, such as objectives for the Mars Science Laboratory rover mission (scheduled to fly in 2009) and the Astrobiology Field Lab rover mission (scheduled to potentially fly in 2016). Common objectives for future rover missions to Mars include the handling of opportunistic science, long-range or multi-sol driving, and onboard fault diagnosis and recovery. To handle these goals, a number of new technologies have been developed and integrated as part of the CLARAty architecture. CLARAty is a unified and reusable robotic architecture that was designed to simplify the integration, testing and maturation of robotic technologies for future missions. This paper focuses on technology comprising the CLARAty Decision Layer, which was designed to support and validate high-level autonomy technologies, such as automated planning and scheduling and onboard data analysis. 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 autonomous science en_US
dc.subject rover autonomy en_US
dc.title Supporting increased autonomy for a Mars Rover en_US
dc.type Preprint en_US

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