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Title: Enabling autonomous rover science through dynamic planning and scheduling
Authors: Estlin, Tara A.
Gaines, Daniel
Chouinard, Caroline
Fisher, Forest
Castano, Rebecca
Judd, Michele
Nesnas, Issa
Keywords: planning
rover autonomy
Issue Date: 5-Mar-2005
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2005.
Citation: IEEE Aerospace Conference, Big Sky, Montana, March 5-12, 2005.
Abstract: This paper describes how dynamic planning and scheduling techniques can be used onboard a rover to autonomously adjust rover activities in support of science goals. These goals could be identified by scientists on the ground or could be identified by onboard data-analysis software. Several different types of dynamic decisions are described, including the handling of opportunistic science goals identified during rover traverses, preserving high priority science targets when resources, such as power, are unexpectedly oversubscribed, and dynamically adding additional, ground-specified science targets when rover actions are executed more quickly than expected. After describing our specific system approach, we discuss some of the particular challenges we have examined to support autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations.
Appears in Collections:JPL TRS 1992+

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