Onboard Autonomous Rover Science

Rebecca Casta?, Tara Estlin, Dan Gaines, Caroline Chouinard, Ben Bornstein, Robert C. Anderson, Michael Burl, David R. Thompson, Andres Casta?, and Michele Judd
Proceedings of the IEEE Aerospace Conference, March, 2007.


Abstract
The Onboard Autonomous Science Investigation System (OASIS) was used in the first formal first formal demonstration of closed loop opportunistic detection and reaction during a rover traverse on the FIDO rover at NASA? Jet Propulsion Laboratory. In addition to hardware demonstrations, the system has been demonstrated and exercised in simulation using the ROAMS planetary rover simulator. We discuss several system enhancements including new planning and scheduling capabilities and image prioritization. We also describe the new end-of-traverse capability that includes taking a partial panorama of images, assessing these for target of interest, and collecting a narrow angle image of the selected target. Finally, we present several methods for estimating properties of rocks and provide a comparative assessment. Understanding the relationship of these methods is important to correctly interpret autonomous rock analyses performed during a traverse.

Notes

Text Reference
Rebecca Casta?, Tara Estlin, Dan Gaines, Caroline Chouinard, Ben Bornstein, Robert C. Anderson, Michael Burl, David R. Thompson, Andres Casta?, and Michele Judd, "Onboard Autonomous Rover Science," Proceedings of the IEEE Aerospace Conference, March, 2007.

BibTeX Reference
@inproceedings{Thompson_2007_5703,
   author = "Rebecca Casta? and Tara Estlin and Dan Gaines and Caroline Chouinard and Ben Bornstein and Robert C. Anderson and Michael Burl and David R Thompson and Andres Casta? and Michele Judd",
   title = "Onboard Autonomous Rover Science",
   booktitle = "Proceedings of the IEEE Aerospace Conference",
   month = "March",
   year = "2007",
}