Increased Mars Rover Autonomy using AI Planning, Scheduling and Execution

Estlin, Tara; Gaines, Daniel; Chouinard, Caroline; Castano, Rebecca; Bornstein, Benjamin; Judd, Michele; Nesnas, Issa; Anderson, Robert

doi:10.1109/robot.2007.364236

Published April 2007 | Version Published

Book Section - Chapter Open

Increased Mars Rover Autonomy using AI Planning, Scheduling and Execution

1. Jet Propulsion Lab

This paper presents technology for performing autonomous commanding of a planetary rover. Through the use of AI planning, scheduling and execution techniques, the OASIS autonomous science system provides capabilities for the automated generation of a rover activity plan based on science priorities, the handling of opportunistic science, including new science targets identified by onboard data analysis software, other dynamic decision-making such as modifying the rover activity plan in response to problems or other state and resource changes. We first describe some of the particular challenges this work has begun to address and then describe our system approach. Finally, we report on our experience testing this software with a Mars rover prototype.

Additional Information

© 2007 IEEE. This work was supported by the NASA Mars Technology Program and NASA Intelligent Systems Program. This work was performed by the Jet Propulsion Laboratory, California Institute of Technology, under contract with the National Aeronautics and Space Administration.

Attached Files

Published - Increased_Mars_Rover_Autonomy_using_AI_Planning_Scheduling_and_Execution.pdf

Files