Current results from a rover science data analysis system

The Onboard Autonomous Science Investigation System (OASIS) evaluates geologic data gathered by a planetary rover. This analysis is used to prioritize the data for transmission, so that the data with the highest science value is transmitted to Earth. In addition, the onboard analysis results are used to identify science opportunities. A planning and scheduling component of the system enables the rover to take advantage of the identified science opportunity. OASIS is a NASA-funded research project that is currently being tested on the FIDO rover at JPL for use on future missions. In this paper, we provide a brief overview of the OASIS system, and then describe our recent successes in integrating with and using rover hardware. OASIS currently works in a closed loop fashion with onboard control software (e.g., navigation and vision) and has the ability to autonomously perform the following sequence of steps: analyze gray scale images to find rocks, extract the properties of the rocks, identify rocks of interest, retask the rover to take additional imagery of the identified target and then allow the rover to continue on its original mission. We also describe the early 2004 ground test validation of specific OASIS components on selected Mars exploration rover (MER) images. These components include the rock-finding algorithm, RockIT, and the rock size feature extraction code. Our team also developed the RockIT GUI, an interface that allows users to easily visualize and modify the rock-finder results. This interface has allowed us to conduct preliminary testing and validation of the rock-finder's performance.