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RAPID: collaboration results from three NASA Centers in commanding/monitoring lunar assets

Show simple item record Torres, R. Jay Allan, Mark Hirsh, Robert Wallick, Michael N. 2015-07-01T17:16:32Z 2015-07-01T17:16:32Z 2009-03-07
dc.identifier.citation 2009 IEEE Aerospace Conference, Big Sky, Montana, March 7-14, 2009 en_US
dc.identifier.clearanceno 09-0575
dc.description.abstract Three NASA centers are working together to address the challenge of operating robotic assets in support of human exploration of the Moon. This paper describes the combined work to date of the Ames Research Center (ARC), Jet Propulsion Laboratory (JPL) and Johnson Space Center (JSC) on a common support framework to control and monitor lunar robotic assets. We discuss how we have addressed specific challenges including time-delayed operations, and geographically distributed collaborative monitoring and control, to build an effective architecture for integrating a heterogeneous collection of robotic assets into a common work. We describe the design of the Robot Application Programming Interface Delegate (RAPID) architecture that effectively addresses the problem of interfacing a family of robots including the JSC Chariot, ARC K-10 and JPL ATHLETE rovers. We report on lessons learned from the June 2008 field test in which RAPID was used to monitor and control all of these assets. We conclude by discussing some future directions to extend the RAPID architecture to add further support for NASA’s lunar exploration program. 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, 2009 en_US
dc.title RAPID: collaboration results from three NASA Centers in commanding/monitoring lunar assets en_US
dc.type Preprint en_US

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