Self-reliant rovers for increased mission productivity. Gaines, D., Doran, G., Paton, M., Rothrock, B., Russino, J., Mackey, R., Anderson, R., Francis, R., Joswig, C., Justice, H., Kolcio, K., Rabideau, G., Schaffer, S., Sawoniewicz, J., Vasavada, A., Wong, V., Yu, K., & Agha-mohammadi, A. Journal of Field Robotics, 37(7):1171-1196, October, 2020.
Self-reliant rovers for increased mission productivity [link]Paper  doi  abstract   bibtex   
Abstract Achieving consistently high levels of productivity has been a challenge for Mars surface missions. While the rovers have made major discoveries and dramatically increased our understanding of Mars, they require a great deal of interaction from the operations teams, and achieving mission objectives can take longer than anticipated when productivity is paced by the ground teams' ability to react. We have conducted a project to explore technologies and techniques for creating self-reliant rovers (SRR): rovers that are able to maintain high levels of productivity with reduced reliance on ground interactions. This paper describes the design of SRR and a prototype implementation that we deployed on a research rover. We evaluated the system by conducting a simulated campaign in which members of the Mars Science Laboratory (Curiosity rover) science team used our rover to explore a geographical region. The evaluation demonstrated the system's ability to maintain high levels of productivity with limited communication with operators.
@article{gaines2020jfr,
  author = {Gaines, Daniel and Doran, Gary and Paton, Michael and Rothrock, Brandon
          and Russino, Joseph and Mackey, Ryan and Anderson, Robert and Francis, Raymond and Joswig, Chet
          and Justice, Heather and Kolcio, Ksenia and Rabideau, Gregg and Schaffer, Steve and Sawoniewicz, Jacek and
          Vasavada, Ashwin and Wong, Vincent and Yu, Kathryn and Agha-mohammadi, Ali-akbar},
  title = {Self-reliant rovers for increased mission productivity},
  journal = {Journal of Field Robotics},
  volume = {37},
  number = {7},
  pages = {1171-1196},
  year = {2020},
  month = {October},
  keywords = {planetary robotics, planning, position estimation, navigation, obstacle avoidance},
  doi = {10.1002/rob.21979},
  url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21979},
  abstract = {Abstract Achieving consistently high levels of productivity has been a challenge for Mars surface missions. While the rovers have made major discoveries and dramatically increased our understanding of Mars, they require a great deal of interaction from the operations teams, and achieving mission objectives can take longer than anticipated when productivity is paced by the ground teams' ability to react. We have conducted a project to explore technologies and techniques for creating self-reliant rovers (SRR): rovers that are able to maintain high levels of productivity with reduced reliance on ground interactions. This paper describes the design of SRR and a prototype implementation that we deployed on a research rover. We evaluated the system by conducting a simulated campaign in which members of the Mars Science Laboratory (Curiosity rover) science team used our rover to explore a geographical region. The evaluation demonstrated the system's ability to maintain high levels of productivity with limited communication with operators.},
  project = {srr},
}

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