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Title: Robust and opportunistic autonomous science for a potential Titan Aerobot
Authors: Gaines, Daniel M.
Estlin, Tara
Schaffer, Steve
Castano, Rebecca
Elfes, Alberto
Keywords: autonomous science
planning and execution
Issue Date: 13-May-2010
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2010.
Citation: AAS George H Born Symposium, Boulder, Colorado, May 13, 2010.
Abstract: We are developing onboard planning and execution technologies to provide robust and opportunistic mission operations for a potential Titan aerobot. Aerobot have the potential for collecting a vast amount of high priority science data. However, to be effective, an aerobot must address several challenges including communication constraints, extended periods without contact with Earth, uncertain and changing environmental conditions, maneuverability constraints and potentially short-lived science opportunities. We are developing the AerOASIS system to develop and test technology to support autonomous science operations for a potential Titan Aerobot. The planning and execution component of AerOASIS is able to generate mission operations plans that achieve science and engineering objectives while respecting mission and resource constraints as well as adapting the plan to respond to new science opportunities. Our technology leverages prior work on the OASIS system for autonomous rover exploration. In this paper we describe how the OASIS planning component was adapted to address the unique challenges of a Titan Aerobot and we describe a field demonstration of the system with the JPL prototype aerobot.
Appears in Collections:JPL TRS 1992+

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