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Spatial coverage planning for a planetary rover

Show simple item record Gaines, Daniel M. Estlin, Tara Chouinard, Caroline 2015-07-01T17:14:02Z 2015-07-01T17:14:02Z 2008-05-19
dc.identifier.citation ICRA08 International Conference on Robotics and Automation, Pasadena, California, May 19-23, 2008 en_US
dc.identifier.clearanceno 08-0288
dc.description.abstract 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. 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, 2008 en_US
dc.subject Onboard planning en_US
dc.subject autonomous planning en_US
dc.title Spatial coverage planning for a planetary rover en_US
dc.type Preprint en_US

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