Self-Reliant Rover Design for Increasing Mission Productivity

Self-Reliant Rover Design for Increasing Mission Productivity. Gaines, D., Russino, J., Doran, G., Mackey, R., Paton, M., Rothrock, B., Schaffer, S., Agha-mohammadi, A., Joswig, C., Justice, H., Kolcio, K., Sawoniewicz, J., Wong, V., Yu, K., Rabideau, G., Anderson, R., & Vasavada, A. In 2018 ICAPS Workshop on Planning and Robotics (PlanRob 2018), Delft, The Netherlands, June, 2018. Also appears at International Symposium on Artificial Intelligence, Robotics, and Automation in Space (ISAIRAS 2018).

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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 un-derstanding of Mars, they often require a great deal of effort from the operations teams, and achieving mission objectives can take longer than anticipated. The objective of this work is to identify changes to flight software and ground operations that enable high levels of productivity with reduced reliance on ground interactions. This will enable the development of Self-Reliant Rovers: rovers that make use of high-level guidance from operators to select their own situational activ- ities and respond to unexpected conditions, all without de- pendence on ground intervention. In this paper we describe the system we are developing and illustrate how it enables increased mission productivity.

@inproceedings{gaines_planrob2018_reliant,
	title        = {Self-Reliant Rover Design for Increasing Mission Productivity},
	author       = {Daniel Gaines and Joseph Russino and Gary Doran and Ryan Mackey and Michael Paton and Brandon Rothrock and Steve Schaffer and Ali-akbar Agha-mohammadi and Chet Joswig and Heather Justice and Ksenia Kolcio and Jacek Sawoniewicz and Vincent Wong and Kathryn Yu and Gregg Rabideau and Robert Anderson and Ashwin Vasavada},
	year         = 2018,
	month        = {June},
	booktitle    = {2018 ICAPS Workshop on Planning and Robotics (PlanRob 2018)},
	address      = {Delft, The Netherlands},
	url          = {https://ai.jpl.nasa.gov/public/papers/gaines-planrob2018-reliant.pdf},
	note         = {Also appears at International Symposium on Artificial Intelligence, Robotics, and Automation in Space (ISAIRAS 2018).},
	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 un-derstanding of Mars, they often require a great deal of effort from the operations teams, and achieving mission objectives can take longer than anticipated. The objective of this work is to identify changes to flight software and ground operations that enable high levels of productivity with reduced reliance on ground interactions. This will enable the development of Self-Reliant Rovers: rovers that make use of high-level guidance from operators to select their own situational activ- ities and respond to unexpected conditions, all without de- pendence on ground intervention. In this paper we describe the system we are developing and illustrate how it enables increased mission productivity.},
	clearance    = {CL\#18-2219},
	project      = {srr}
}

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