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First 210 solar days of Mars 2020 Perseverance Robotic Operations – Mobility, Robotic Arm, Sampling, and Helicopter

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dc.contributor.author Verma, Vandi
dc.contributor.author Hartman, Frank
dc.contributor.author Rankin, Arturo
dc.contributor.author Maimone, Mark
dc.contributor.author Del Sesto, Tyler
dc.contributor.author Toupet, Olivier
dc.contributor.author Graser, Evan
dc.contributor.author Myint, Steven
dc.contributor.author Davis, Kevin
dc.contributor.author Klein, Douglas
dc.contributor.author Koch, Justin
dc.contributor.author Brooks, Sawyer
dc.contributor.author Bailey, Philip
dc.contributor.author Justice, Heather
dc.contributor.author Dolci, Marco
dc.contributor.author Ono, Hiro
dc.date.accessioned 2022-09-20T13:24:46Z
dc.date.available 2022-09-20T13:24:46Z
dc.date.issued 2022-03-05
dc.identifier.citation 2022 IEEE Aerospace Conference, Big Sky, Montana, March 5-12, 2022
dc.identifier.clearanceno CL#22-0360
dc.identifier.uri http://hdl.handle.net/2014/55049
dc.description.abstract This paper includes the summary, lessonslearned, and upcoming plans for the first 210 Mars solar days(sols) of the mission. The focus of the paper is on roboticoperations which has the primary responsibility for strategicplanning, uplink commanding and downlink analysis forrover mobility and navigation, robotic arm operation, thesampling and caching capability including coring, theadaptive caching assembly and the 2nd sample handlingrobotic arm, and interface to the Mars helicopter Ingenuity.As of Sol 210 the rover has driven 2663.65 meters, executed20764 robotic arm and sampling commands, and hassuccessfully completed 13 helicopter flights covering 2382meters horizontal distance. It includes the OperationsReadiness Tests in preparation for landing, landing and initialcheckouts, strategic route planning to the science destinationand waypoints, surface checkout of all of the roboticscapability of the rover. It also discusses the strategic planningand tactical agility needed for interleaving scienceinvestigation and technology demonstration of the Marshelicopter flights where a minimum distance had to bemaintained between the rover and helicopter during flights. Itdiscusses the challenges with planning robotic operations andaddressing anomalies with the larger uncertainty presentduring early mission operations. It also discusses the impacton robotic operations from lessons incorporated fromprevious missions.
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US
dc.publisher Pasadena, CA: Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2022
dc.title First 210 solar days of Mars 2020 Perseverance Robotic Operations – Mobility, Robotic Arm, Sampling, and Helicopter
dc.type Preprint


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