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Automated Surface Mission Planning Considering Terrain, Shadows, Resources and Time
P. Tompkins, A. Stentz, and W.L. Whittaker
Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '01), Montreal, Canada., June, 2001.

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Abstract

This paper summarizes initial work on a planetary rover planning domain where long-distance traverse, large-scale terrain, changing line-of-sight geometry, finite resources and time strongly affect the strategy for achieving mission objectives. In this domain, because path planning, activity scheduling and resource usage are closely coupled, they must be considered simultaneously. We introduce a preliminary automated planner that combines planetary and rover modeling with a novel search algorithm to produce coarse navigational and activity plans for long-distance rover traverses. Results from simulation illustrate the utility of the approach, and pave the way for field experiments in planetary analog terrain. Finally, we present our plans for future research and development in the domain.

Notes

Sponsor: National Aeronautics and Space Administration
Grant ID: NAG9-1256

Associated centers: SRI and FRC
Associated projects: Sun Synchronous Navigation and Lunar Ice Discovery Initiative

Number of pages: 8

Text Reference

P. Tompkins, A. Stentz, and W.L. Whittaker, "Automated Surface Mission Planning Considering Terrain, Shadows, Resources and Time," Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '01), Montreal, Canada., June, 2001.

BibTeX Reference

@inproceedings{Tompkins_2001_3736,
   author = "Paul Tompkins and Anthony (Tony) Stentz and William Red L. Whittaker",
   title = "Automated Surface Mission Planning Considering Terrain, Shadows, Resources and Time",
   booktitle = "Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '01), Montreal, Canada.",
   month = "June",
   year = "2001"
}