@article{smices-jais-2024,
                author = {Jason Swope and Steve Chien and Xavier Bosch-Lluis and Emily Dunkel and Qing Yue and Mehmet Ogut and Isaac Ramos and Pekka Kangaslahti and William Deal and Caitlyn Cooke},
                title = {Storm Classification and Dynamic Targeting for a SMart ICE Cloud Sensing Satellite},
                journal = {Journal of Aerospace Information Systems (JAIS)},
                year = {2024},
                doi = {10.2514/1.I011318},
                url = {https://doi.org/10.2514/1.I011318},
                eprint = {https://doi.org/10.2514/1.I011318},
                project = {smices, dt}
}
 

@article{el-mexec-jais-2024,
                author = {Joseph A. Russino and Daniel Wang and Caleb Wagner and Gregg Rabideau and Faiz Mirza and Connor Basich and Cecilia Mauceri and Philip Twu and Glenn Reeves and Grace Tan-Wang and Steve Chien},
                title = {Utility-Driven Approach to Onboard Scheduling and Execution for an Autonomous Europa Lander Mission},
                journal = {Journal of Aerospace Information Systems (JAIS)},
                year = {2024},
                doi = {10.2514/i011323 },
                url = {https://doi.org/10.2514/1.I011323},
                eprint = {https://doi.org/10.2514/1.I011323},
                project = {europa-lander, mexec}
}

@inproceedings{stv-agu2024,
		address = {Washington, DC},
		author = { Victoria Da Poian and Mark M. Moussa and Umaa Rebbapragada and  John Wu and Emilio Salazar-Donate and Megan Shabram and Ehsan Gharib-Nezhad and Vicki Toy-Edens and Hamsa Venkataram and Mark Giuliano and Steve Chien and Aquib Moin and Gautier Bardi de Fourtou and Connor Basich and Eric Lyness and Bruce Dean and Megan Ansdell },
		booktitle = {AGU Fall Meeting Abstract},
		month = {December},
		project = { },
		title = {Using Artificial Intelligence and Machine Learning to Enhance Mission Design and Operations of the Habitable Worlds Observatory (HWO)},
		year = {2024},
		url = {https://ai.jpl.nasa.gov/public/documents/papers/AGU-2024-STV.pdf}
}
 

@inproceedings{hwo-agu2024,
		address = {Washington, DC},
		author = { Andrea Donnellan and Craig Glennie and Steve Chien and Joseph J. Green and Mark Stephen and David Shean and Robert Treuhaft },
		booktitle = {AGU Fall Meeting Abstract},
		month = {December},
		project = { },
		title = { Mapping Earth's Changing Surface and Overlying Vegetation Structure using a Novel Observing Strategy (NOS) },
		year = {2024},
		url = {https://ai.jpl.nasa.gov/public/documents/papers/AGU-Fall-2024-HWO.pdf}
}

@inproceedings{candela-spectral-igarss2024,
	title        = {Spectral Unmixing and Mapping of Coral Reef Benthic Cover},
	author       = {Rohan Zeng and Eric Hochberg and Alberto Candela and David Wettergreen},
	year         = {2024},
	month        = {July},
	address = {Athens, Greece},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IEEE IGARSS)},
	url          = {https://ieeexplore.ieee.org/document/10642631},
	project      = {},
	clearance    = {URS322533 CL\#24-2502}
}

@inproceedings{breitfeld-isairas-2024,
 	address = {Brisbane, Australia},
	author = {Abigail Breitfeld and Alberto Candela and Juan Delfa and Akseli Kangaslahti and Itai Zilberstein and Steve Chien and David Wettergreen},
 	booktitle = {Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space},
 	clearance = {CL\#24-5480 URS329000},
 	month = {November},
 	project = {dt},
 	title = {Learning-Based Planning for Improving Science Return of Earth Observation Satellites},
 	url = {https://ai.jpl.nasa.gov/public/documents/papers/breitfeld-isairas-2024.pdf},
 	year = {2024}
}

@inproceedings{outlast-isairas-2024,
	address = {Brisbane, Australia},
	author = {Connor Basich and Cecilia Mauceri and Gerik Kubiak and Juan Delfa and Alberto Candela-Garza and Pedro Proença and Barry Ridge and Steve Chien},
	booktitle = {Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space},
	clearance = {CL#24-5068 URS328433},
	month = {November},
	project = {outlast},
	title = {Onboard Automated Health Assessment and Global Localization for the Mars Helicopter: Towards Multi-Flight Operations},
	url = {https://ai.jpl.nasa.gov/public/documents/papers/outlast-isairas-2024.pdf},
	year = {2024}
}

@inproceedings{dt-isairas-2024,
	address = {Brisbane, Australia},
	author = { Steve Chien and  Itai Zilberstein and Alberto Candela and David Rijlaarsdam and Tom Hendrix and Aubrey Dunne and Oriol Aragon and JP Miquel},
	booktitle = {Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space},
	clearance = {CL\#24-5229 URS328590 },
	month = {November},
	project = {nos},
	title = {Flight of Dynamic Targeting on CogniSAT-6},
	url = {https://ai.jpl.nasa.gov/public/documents/papers/dt-isairas-2024.pdf},
	year = {2024}
}

@inproceedings{zilberstein-isairas-2024,
 	address = {Brisbane, Australia},
	author = {Itai Zilberstein and Alberto Candela and Steve Chien and David Rijlaarsdam and Tom Hendrix and L\'{e}onie Buckley and Aubrey Dunne},
 	booktitle = {Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space},
 	clearance = {CL\#24-4863 URS325296},
 	month = {November},
 	project = {nos},
 	title = {Demonstrating Onboard Inference for Earth Science Applications with Spectral Analysis Algorithms and Deep Learning},
 	url = {https://ai.jpl.nasa.gov/public/documents/papers/Zilberstein-ISAIRAS-2024.pdf},
 	year = {2024}
}

@inproceedings{smices-suds-poster-2024,
 	address = {Pasadena, California},
	author = {Jason Swope and Steve Chien and Xavier-Bosch Lluis and Emily Dunkel and Qing Yue and Mehmet Ogut and Isaac Ramos and Pekka Kangaslahti and William Deal and Caitlyn Cooke},
 	booktitle = {Conference on Science Understanding through Data Science},
 	clearance = {URS327455 CL\#24-4384},
 	month = {August},
 	title = {Storm Classification and Dynamic Targeting for a SMart ICE Cloud Sensing (SMICES) Satellite},
 	url = {https://ai.jpl.nasa.gov/public/documents/posters/SMICES-SUDS-2024-Poster.pdf},
 	year = {2024}
}

@inproceedings{candela-suds-poster-2024,
 	address = {Pasadena, California},
	author = {Alberto Candela and David Thompson and Philip Brodrick},
 	booktitle = {Conference on Science Understanding through Data Science},
 	clearance = {URS327472 CL\#24-4383},
 	month = {August},
 	title = {Bayesian Neural Network for Surface Reflectance Modeling to Improve Imaging Spectroscopy Atmospheric Correction},
 	url = {https://ai.jpl.nasa.gov/public/documents/posters/Candela-SUDS-Bayesian-NN-2024.pdf},
 	year = {2024}
}

@inproceedings{ingham2024onboard,
  title={Onboard Planning and Execution of Mobility and Telecommunications for the Endurance Lunar Rover},
  author={Ingham, Michel D and Hasnain, Zaki and Amini, Rashied and Ardito, Steven and Bandyopadhyay, Saptarshi and Bocchino, Robert and Gaut, Aaron and Mestar, Lini and Rabideau, Gregg and Rouquette, Nicolas},
  booktitle={AIAA Aviation Forum and ASCEND 2024},
  pages={4889},
  year={2024},
  url = {https://arc.aiaa.org/doi/abs/10.2514/6.2024-4889},
  project={mexec},
  clearance={CL\#24-3423 URS326337}
}

@inproceedings{zilberstein-suds-poster,
 	address = {Pasadena, California},
	author = {Itai Zilberstein and Alberto Candela and Steve Chien and David Rijlaarsdam and Tom Hendrix and L\'{e}onie Buckley and Aubrey Dunne},
 	booktitle = {Conference on Science Understanding through Data Science},
 	clearance = {CL\#24-4297 URS327397},
 	month = {August},
 	project = {nos},
 	title = {Demonstrating Onboard Inference for Earth Science Applications with Spectral Algorithms and Deep Learning},
 	url = {https://ai.jpl.nasa.gov/public/documents/posters/SUDS-NOS-Zilberstein.pdf},
 	year = {2024}
}

@inproceedings{thakker-et-al-AIAA2024,
	author = {Rohan Thakker and Michael Paton and Bryson Jones and Guglielmo Daddi and Rob Royce and Michael Swan and Marlin Strub and Sina Aghli and Harshad Zade and Yashwanth Kumar Nakka and Tiago Vaquero and Joseph Bowkett and Daniel Loret de Mola Lemus and Jenny Zhang and Jack Naish and Daniel Pastor Moreno and Tristan Hasseler and Carl Leake and Benjamin Nuernberger and Pedro Proenca and William Talbot and Kyohei Otsu and Andrew Orekhov and Phillipe Tosse and Matthew Gildner and Abhinandan Jain and Rachel Etheredge and Matthew Travers and Howie Choset and Joel Burdick and Michel Ingham and Matthew Robinson and Masahiro Ono},
	title = {To Boldly Go Where No Robots Have Gone Before - Part 4: NEO Autonomy for Robustly Exploring Unknown, Extreme Environments with Versatile Robots},
	booktitle = {AIAA SCITECH 2024 Forum},
	chapter = {},
	pages={1747},
	doi = {10.2514/6.2024-1747},
	URL = {https://arc.aiaa.org/doi/abs/10.2514/6.2024-1747},
	eprint = {https://arc.aiaa.org/doi/pdf/10.2514/6.2024-1747},
	abstract = { This paper introduces NEO, a novel autonomy framework for controlling a versatile high- degree-of-freedom (DOF) robots such as EELS (a screw-driven snake-like robot), aimed at exploring unknown and extreme environments like the geysers of Enceladus or the subsurface oceans of icy worlds. Distinct from conventional Mars mission strategies, NEO embodies resilience, adaptivity, and risk awareness. NEO supports fault-aware perception using both exteroception and proprioception, inspired by a blind climber’s feat of scaling El Capitan. NEO tightly couples planning, perception, and control, along with leveraging machine-learning- based methods for adaptation. Moreover, NEO incorporates risk-aware decision making with integrated task and motion planning under consideration of uncertainty, enabling autonomous adaptation of actions to mitigate risks and maximize mission success. This paper presents the architecture of NEO, along with experimental results showcasing these capabilities and discusses the potential for NEO in spearheading a new paradigm in space exploration. },
	project={eels},
	year = {2024},
	clearance={URS321789}
}
 
 

This paper introduces NEO, a novel autonomy framework for controlling a versatile high- degree-of-freedom (DOF) robots such as EELS (a screw-driven snake-like robot), aimed at exploring unknown and extreme environments like the geysers of Enceladus or the subsurface oceans of icy worlds. Distinct from conventional Mars mission strategies, NEO embodies resilience, adaptivity, and risk awareness. NEO supports fault-aware perception using both exteroception and proprioception, inspired by a blind climber’s feat of scaling El Capitan. NEO tightly couples planning, perception, and control, along with leveraging machine-learning- based methods for adaptation. Moreover, NEO incorporates risk-aware decision making with integrated task and motion planning under consideration of uncertainty, enabling autonomous adaptation of actions to mitigate risks and maximize mission success. This paper presents the architecture of NEO, along with experimental results showcasing these capabilities and discusses the potential for NEO in spearheading a new paradigm in space exploration.

@article{morrell-et-al-ACTA2024,
	title = {Robotic exploration of Martian caves: Evaluating operational concepts through analog experiments in lava tubes},
	journal = {Acta Astronautica},
	year = {2024},
	issn = {0094-5765},
	doi = {https://doi.org/10.1016/j.actaastro.2024.07.041},
	url = {https://www.sciencedirect.com/science/article/pii/S0094576524004107},
	author = {Benjamin J. Morrell and Maira Saboia {da Silva} and Marcel Kaufmann and Sangwoo Moon and Taeyeon Kim and Xianmei Lei and Christopher Patterson and Jose Uribe and Tiago Stegun Vaquero and Gustavo J. Correa and Lillian M. Clark and Ali Agha and Jennifer G. Blank},
	keywords = {Mars cave exploration, Autonomous robot operations, Mission design, Multi-robot systems},
	abstract = {Caves on Mars are a tantalizing target for exploration, as they could harbor evidence of extinct or extant life, clues to the planet’s geological history, and even potential future human habitation. However, the inherent challenges of navigating unknown and challenging terrain, coupled with limited communication capabilities, pose significant obstacles for robotic exploration in these caves. This paper presents the results of an effort to evaluate different operational concepts for a mission dedicated to exploration of caves on Mars. We conducted a series of analog exploration experiments in lava tubes on Earth, testing two hypotheses: (1) that two robots are more effective than one, and (2) that high levels of autonomy are more effective than low levels of autonomy. Our findings suggest that two robots are indeed more effective, except in low autonomy cases, where more operational resources are required. We also found that full autonomy is more efficient than low autonomy, as it enables quicker exploration and detection of targets of interest. However, the low autonomy cases benefited from the operator input to acquire higher quality data, an area of autonomy requiring further development. This paper provides insight into the design of our experiments, as well as detailing the results and implications for the design of future missions to explore caves on Mars. By shedding light on the operational concepts tested and their corresponding outcomes, we contribute to the knowledge base required to formulate optimal strategies for the realization of successful cave exploration missions on the Red Planet.},
	project  	= {CaveRovers, subt},
	clearance = {URS321769}
}
 
 

Caves on Mars are a tantalizing target for exploration, as they could harbor evidence of extinct or extant life, clues to the planet’s geological history, and even potential future human habitation. However, the inherent challenges of navigating unknown and challenging terrain, coupled with limited communication capabilities, pose significant obstacles for robotic exploration in these caves. This paper presents the results of an effort to evaluate different operational concepts for a mission dedicated to exploration of caves on Mars. We conducted a series of analog exploration experiments in lava tubes on Earth, testing two hypotheses: (1) that two robots are more effective than one, and (2) that high levels of autonomy are more effective than low levels of autonomy. Our findings suggest that two robots are indeed more effective, except in low autonomy cases, where more operational resources are required. We also found that full autonomy is more efficient than low autonomy, as it enables quicker exploration and detection of targets of interest. However, the low autonomy cases benefited from the operator input to acquire higher quality data, an area of autonomy requiring further development. This paper provides insight into the design of our experiments, as well as detailing the results and implications for the design of future missions to explore caves on Mars. By shedding light on the operational concepts tested and their corresponding outcomes, we contribute to the knowledge base required to formulate optimal strategies for the realization of successful cave exploration missions on the Red Planet.

@inproceedings{paton-et-al-IEEE2024,
	author = {M. Paton and R. Rieber and S. Cruz and M. Gildner and C. Abma and K. Abma and S. Aghli and E. Ambrose and A. Archanian and E. Bagshaw and C. Baroco and A. Blackstock and J. Bowkett and M. Cable and E. Cartaya and G. Daddi and T. Drevinskas and R. Etheredge and T. Gall and A. Gardner and P. Gavrilov and N. Georgiev and K. Graham and B. Hockman and B. Jones and S. Linn and M. Malaska and E. Marteau and N. Maslen and H. Melikyan and Y. Kumar Nakka and J. Nelson and M. Pazzini and M. Peticco and M. Prior-Jones and M. Robinson and C. Roman and R. Royce and M. Ryan and L. Shiraishi and C. Stenner and M. Strub and R. M. Swan and B. Swerdlow and R. Thakker and L. P. Tosi and T. Tran and T. Stegun Vaquero and M. Veismann and T. Wood and H. Zade and M. Ono},
	title = {2023 EELS Field Tests at Athabasca Glacier as an Icy Moon Analogue Environment},
	year = {2024},
	keywords = {autonomy, JPL},
	booktitle = {{IEEE Aerospace Conference}},
	address = {Big Sky, MT},
	month = {March},
	url = {https://ieeexplore.ieee.org/document/10521174},
	doi={https://doi.org/10.1109/AERO58975.2024.10521174},
	project={eels},
	clearance={CL#24-0214}
}

@article{kangaslahti-jais2024-sensorweb,
	author = {Akseli Kangaslahti and James Mason and Jason Swope and Tessa Holzmann and Ashley Gerard Davies and Steve Chien and Tanya Harrison and Joseph J. Walter},
	title = {Sensorweb Systems for Global High-Resolution Monitoring of Environmental Phenomena},
	journal = {Journal of Aerospace Information Systems (JAIS)},
	year = {2024},
	volume = {21},
	number = {8},
	pages = {616-627},
	doi = {10.2514/1.I011327},
	URL = {
        https://doi.org/10.2514/1.I011327
	},
	eprint = {
        https://doi.org/10.2514/1.I011327
	},
	project = {sensorweb}
}

@inproceedings{german2024abscicon,
  	title={Exploring Hydrogen-Rich Venting Beneath an Ice-Covered Ocean--On Earth},
  	author={German, Christopher R and Seewald, Jeffrey and Albers, Elmar and Sylva, Sean and Curran, Molly and Jakuba, Michael and Naklicki, Victor and Branch, Andrew and Klesh, Andrew and Schlindwein, Vera SN and Bowen, Andrew and Chien, Steve and Hand, Kevin and ALOIS-PS137,  Research-Team},
  	booktitle={2024 Astrobiology Science Conference},
  	year={2024},
	month        = {May},
	address      = {Providence, RI},
	organization={AGU},
	project = {ice\_covered\_oceans},
	url = {https://ai.jpl.nasa.gov/public/documents/papers/german-absicon-2024.pdf}
}

@inproceedings{ogut-pbl-microrad2024,
               title        = {Smart Ice Cloud Sensing (SMICES) SmallSat Combined Radar/Radiometer Instrument},
               author       = {Mehmet Ogut and Pekka Kangaslahti and Akim Babenko and Omkar Pradhan and Isaac Ramos and Xavier Bosch-Lluis and Joan Munoz-Martin and Joelle Cooperrider and William Chun and Simik Ghookasian and Jason Swope and Peyman Tavallali and Steve Chien and William Deal and Caitlyn Cooke},
               year         = 2024,
               month        = {April},
               address = {Alexandria, VA, USA},
               booktitle    = {17th IEEE Specialist Meeting on Microwave Radiometry & Remote Sensing of the Environment (IEEE MicroRad 2024)},
               project      = {smices},
               clearance    = {URS321392 CL\#23-6565}
}
 

@article{chien-space-robotics-survey-scirob-2024,
	author = {S. A. Chien and G. Visentin and C. Basich },
	title = {Exploring beyond Earth using space robotics},
	journal = {Science Robotics},
	volume = {9},
	number = {91},
	pages = {},
	year = {2024},
	month = {June},
	doi = {10.1126/scirobotics.adh8332},
	url = {https://www.science.org/doi/10.1126/scirobotics.adi6424},
	featured = 1,
	clearance = {CL#24-2362 URS316375},
	project={}
}

@inproceedings{cadre-ieee-aerospace-2024,
  author={de la Croix, Jean-Pierre and Rossi, Federico and Brockers, Roland and Aguilar, Dustin and Albee, Keenan and Boroson, Elizabeth and Cauligi, Abhishek and Delaune, Jeff and Hewitt, Robert and Kogan, Dima and Lim, Grace and Morrell, Benjamin and Nakka, Yashwanth and Nguyen, Viet and Proença, Pedro and Rabideau, Gregg and Russino, Joseph and da Silva, Maira Saboia and Zohar, Guy and Comandur, Subha},
  booktitle={IEEE Aerospace Conference},
  title={Multi-Agent Autonomy for Space Exploration on the CADRE Lunar Technology Demonstration},
  year={2024},
  volume={},
  number={},
  pages={1-14},
  url={https://ieeexplore.ieee.org/abstract/document/10521425},
  doi={10.1109/AERO58975.2024.10521425},
  project={cadre},
  clearance = {CL#24-0419 URS320590}
}

@inproceedings{candela-pbl-igarss2024,
	title        = {Dynamic Targeting Scenario to Study the Planetary Boundary Layer},
	author       = {Alberto Candela and Juan Delfa Victoria and Itai Zilberstein and Marcin Kurowski and Qing Yue and Steve Chien},
	year         = 2024,
	month        = {July},
	address = {Athens, Greece},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IEEE IGARSS)},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/Candela-PBL-IGARSS-2024.pdf},
	project      = {dt},
	clearance    = {URS322192 CL\#24-2581}
}

@inproceedings{chien-nos-igarss2024,
	title        = {Leveraging Commercial Assets, Edge Computing, and Near Real-Time Communications for an Enhanced New Observing Strategies (NOS) Flight Demonstration},
	author       = {Steve Chien and Alberto Candela and Itai Zilberstein and David Rijlaarsdam and Tom Hendrix and Aubrey Dunne},
	year         = 2024,
	month        = {July},
	address = {Athens, Greece},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IEEE IGARSS)},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/NOS-IGARSS-2024.pdf},
	project      = {nos,sensorweb},
	clearance    = {URS322024 CL\#24-2614}
}

@inproceedings{dt-planrob-2024, 
	author = {Akseli Kangaslahti and Itai Zilberstein and Alberto Candela and Steve Chien},
	title = {Search Applications for Integrated Planning and Execution of Satellite Observations using Dynamic Targeting},
	booktitle = {International Conference on Automated Planning and Scheduling (ICAPS) Workshop on Planning and Robotics (PlanRob)},
	year = {2024},
	month = {June},
	address = {Banff, Canada},
	project = {dt},
	url = {https://ai.jpl.nasa.gov/public/documents/papers/dt-planrob-2024.pdf}
}

@article{vaquero-eels-scirob-2024,
	author = {T. S. Vaquero  and G. Daddi  and R. Thakker  and M. Paton  and A. Jasour  and M. P. Strub  and R. M. Swan  and R. Royce  and M. Gildner  and P. Tosi  and M. Veismann  and P. Gavrilov  and E. Marteau  and J. Bowkett  and D. Loret de Mola Lemus  and Y. Nakka  and B. Hockman  and A. Orekhov  and T. D. Hasseler  and C. Leake  and B. Nuernberger  and P. Proença  and W. Reid  and W. Talbot  and N. Georgiev  and T. Pailevanian  and A. Archanian  and E. Ambrose  and J. Jasper  and R. Etheredge  and C. Roman  and D. Levine  and K. Otsu  and S. Yearicks  and H. Melikyan  and R. R. Rieber  and K. Carpenter  and J. Nash  and A. Jain  and L. Shiraishi  and M. Robinson  and M. Travers  and H. Choset  and J. Burdick  and A. Gardner  and M. Cable  and M. Ingham  and M. Ono },
	title = {EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration},
	journal = {Science Robotics},
	volume = {9},
	number = {88},
	pages = {1-11},
	year = {2024},
	month = {March},
	doi = {10.1126/scirobotics.adh8332},
	url = {https://www.science.org/doi/abs/10.1126/scirobotics.adh8332},
	eprint = {https://www.science.org/doi/pdf/10.1126/scirobotics.adh8332},
	featured = 1,
	clearance = {CL#24-1538 URS315213},
	project={eels}
}

@inproceedings{zilberstein-icaps-2024,
	title={Decentralized, Decomposition-Based Observation Scheduling for a Large-Scale Satellite Constellation},
	author={Itai Zilberstein and Ananya Rao and Matthew Salis and Steve Chien},
	booktitle={International Conference on Automated Planning and Scheduling},
	year={2024},
	month={June},
	address = {Banff, Canada},
	project={constellations},
	clearance={CL#24-1419 URS321755},
	featured = 1,
	url={https://ai.jpl.nasa.gov/public/documents/papers/Zilberstein-ICAPS-2024.pdf}
}

@inproceedings{dt-icra-2024,
 	address = {Yokohama, Japan},
 	author = {Akseli Kangaslahti and Alberto Candela and Jason Swope and Qing Yue and Steve Chien},
 	booktitle = {IEEE International Conference on Robotics and Automation (ICRA 2024)},
 	month = {May},
 	title = {Dynamic Targeting of Satellite Observations Incorporating Slewing Costs and Complex Observation Utility},
 	year = {2024},
	url = {https://ai.jpl.nasa.gov/public/documents/papers/Kangaslahti_DT_ICRA_2024.pdf},
	clearance={CL#24-1167 URS319232},
	featured = 1,
	project = {dt}
}

@inproceedings{branch-osm2024,
 	address = {New Orleans, Louisiana},
	author = {Andrew Branch  and Victoria Preston and Rudi Lien and Guangyu Xu and Mary Burkitt-Gray and Christopher R. German},
 	booktitle = {Ocean Sciences Meeting Abstract 2024},
 	month = {February},
 	project = {ice\_covered\_oceans},
 	title = {Evaluating In-Situ Measurements of Hydrothermal Plume Tracers for Autonomous Exploration and Sampling},
 	year = {2024},
	abstract = {The process of seeking, sampling, and characterizing deep hydrothermal systems is benefited by the use of autonomous underwater vehicles (AUVs) equipped with in situ sensors. Traditional AUV operations require multiple deployments with manual data analysis by ship-board scientists. Development of advanced autonomous methods that analyze in situ data in real-time and allow the vehicle itself to make decisions would improve the efficiency of operations and enable new frontiers in exploration at hydrothermal systems on Ocean Worlds. Adaptive robotic decision making is facilitated by computational models of hydrothermal systems and selected in situ sensors used to refine and validate these predictions. Improving autonomous missions requires better models, and thus an understanding of how different sensors respond to hydrothermally altered seawater. During cruise AT50-15 (Juan De Fuca Ridge, 2023), we performed surveys of the hydrothermal plumes at the Endeavour Segment with AUV Sentry to investigate the utility of in situ sensors measuring tracers such as oxidation-reduction potential, optical backscatter, methane abundance, conductivity, and temperature, for building working models of plume dynamics. We investigated length scales of under 1 km to 5 km with a focus on reoccupying locations over varying time scales. Persistent deep current data were available through the Ocean Networks Canada mooring array. Using these datasets, we investigate two questions: (1) how reliably and at what length scales can real-time current information be used to predict the location and source of a hydrothermal plume? (2) How does the relative age (hence, biogeochemical maturation) of the hydrothermal plume fluid affect the response of different in situ sensors? These results will be used to inform the development of autonomous plume detection algorithms that use real-time, in situ data with the purpose of improving AUV exploration of hydrothermal plumes on Earth and other Ocean Worlds.},
	url = {https://ai.jpl.nasa.gov/public/documents/papers/branch-osm2024.pdf}, 
}

The process of seeking, sampling, and characterizing deep hydrothermal systems is benefited by the use of autonomous underwater vehicles (AUVs) equipped with in situ sensors. Traditional AUV operations require multiple deployments with manual data analysis by ship-board scientists. Development of advanced autonomous methods that analyze in situ data in real-time and allow the vehicle itself to make decisions would improve the efficiency of operations and enable new frontiers in exploration at hydrothermal systems on Ocean Worlds. Adaptive robotic decision making is facilitated by computational models of hydrothermal systems and selected in situ sensors used to refine and validate these predictions. Improving autonomous missions requires better models, and thus an understanding of how different sensors respond to hydrothermally altered seawater. During cruise AT50-15 (Juan De Fuca Ridge, 2023), we performed surveys of the hydrothermal plumes at the Endeavour Segment with AUV Sentry to investigate the utility of in situ sensors measuring tracers such as oxidation-reduction potential, optical backscatter, methane abundance, conductivity, and temperature, for building working models of plume dynamics. We investigated length scales of under 1 km to 5 km with a focus on reoccupying locations over varying time scales. Persistent deep current data were available through the Ocean Networks Canada mooring array. Using these datasets, we investigate two questions: (1) how reliably and at what length scales can real-time current information be used to predict the location and source of a hydrothermal plume? (2) How does the relative age (hence, biogeochemical maturation) of the hydrothermal plume fluid affect the response of different in situ sensors? These results will be used to inform the development of autonomous plume detection algorithms that use real-time, in situ data with the purpose of improving AUV exploration of hydrothermal plumes on Earth and other Ocean Worlds.

@inproceedings{parjan-ieee2024-m2020,
	author = {Parjan, Shreya and Gaines, Dan},
	title = {“In OBP We Trust”: Verification and Validation of the M2020 On Board Planner Flight Software},
	year = {2024},
	month = {March},
	booktitle = {IEEE Aerospace Conference},
	address = {Big Sky, Montana},
	project = {m2020},
	clearance = {URS320417 CL#24-0421},
	url = {https://ai.jpl.nasa.gov/public/documents/papers/parjan-ieee2024-m2020.pdf}
}

@inproceedings{yue-ams-smices-slides,
	address = {Baltimore, Maryland},
	author = {Qing Yue and Jonathan H. Jiang and Pekka Kangaslahti and Steve Chien and Jason Swope and Longtao Wu and Mehmet Ogut and William Deal},
 	booktitle = {2024 American Meteorological Society Meeting},
 	month = {January},
 	project = {smices},
 	title = {Remote Sensing of Vertical Profiles of Clouds and In-cloud Humidity Using a Combined Platform of Radar and Sub-Millimeter Microwave Radiometers},
 	year = {2024},
	url = {https://ai.jpl.nasa.gov/public/documents/presentations/Yue_2024AMS.pdf},
}

@article{el-autonomy-jais-23,
    author = {Wagner, Caleb and Mauceri, Cecilia and Twu, Philip and Marchetti, Yuliya and Russino, Joseph and Aguilar, Dustin and Rabideau, Gregg and Tepsuporn, Scott and Chien, Steve and Reeves, Glenn},
    title = {Demonstrating Autonomy for Complex Space Missions: A Europa Lander Mission Autonomy Prototype},
	journal = {Journal of Aerospace Information Systems},
    volume = {21},
    number = {1},
    pages = {37-57},
    year = {2024},
    month = {January},
    doi = {10.2514/1.I011294},
    URL = {https://ai.jpl.nasa.gov/public/documents/papers/wagner-et-al-2023-jais-el.pdf},
    project = {europa-lander, mexec}
}

@article{candela-autonomica-incose2023,
	author = {Elaasar, Maged and Rouquette, Nicolas and Havelund, Klaus and Feather, Martin and Bandyopadhyay, Saptarshi and Candela, Alberto},
	title = {Autonomica: Ontological Modeling and Analysis of Autonomous Behavior},
	journal = {INCOSE International Symposium},
	volume = {33},
	number = {1},
	pages = {1570-1585},
	doi = {https://doi.org/10.1002/iis2.13099},
	year = {2023},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/Candela-Autonomica-INCOSE-2023.pdf},
	project      = {},
	clearance    = {URS313445 CL\#23-2127}
}

@inproceedings{ogut-space-microwave-2023,
               title        = {Smart Ice Cloud Sensing (SMICES) Sub-millimeter Wave Combined Radar/Radiometer Instrument},
               author       = {Mehmet Ogut and Pekka Kangaslahti and Isaac Ramos and Xavier Bosch-Lluis and Akim Babenko and Omkar Pradhan and Joan Munoz-Martin and Joelle Cooperrider and William Chun and Simik Ghookasian and Jason Swope and Peyman Tavallali and Steve Chien and William Deal and Caitlyn Cooke},
               year         = 2023,
               month        = {May},
               address = {Noordwijk, NL},
               booktitle    = {Space Microwave Week},
               project      = {smices},
               clearance    = {URS 315646  CL\#23-2009}
}

@misc{swopeSmicesML2023,
  	title={Using Unsupervised and Supervised Learning and Digital Twin for Deep Convective Ice Storm Classification},
  	author={Jason Swope and Steve Chien and Emily Dunkel and Xavier Bosch-Lluis and Qing Yue and William Deal},
  	year={2023},
  	eprint={2309.07173},
  	archivePrefix={arXiv},
  	primaryClass={cs.LG},
	doi={10.48550/arXiv.2309.07173},
	project={smices},
	url = {https://ai.jpl.nasa.gov/public/documents/papers/swope_SMICES_ML_arxiv_2023.pdf},
}

@inproceedings{german-agu2023,
 	address = {San Francisco, California},
	author = {Christopher R. German and Jeffery Seewald and Molly Curran and Michael Jakuba and Andrew Branch and Andrew Klesh and Andrew Bowen and Steve Chien and Kevin P. Hand and Vera S. N. Schlindwein},
 	booktitle = {AGU Fall Meeting Abstract 2023},
 	month = {December},
 	project = {ice\_covered\_oceans},
 	title = {Exploring Hydrogen Rich Venting Beneath Ice on an Ocean World - Field Report},
 	year = {2023},
	url = {},
 	abstract = {In July 2023 the Nereid Under Ice hybrid (autonomous/remotely operated) vehicle was used to explore submarine hydrothermal venting at two locations in the ice-covered Arctic Ocean, the Aurora hydrothermal field on the Gakkel Ridge and the Lucky B area in Lena Trough. These operations were conducted aboard FS Polarstern Cruise 137 ALOIS (Arctic Lithosphere Ocean Interaction Studies) where NUI, a CTD rosette and the OFOBS (camera and high resolution mapping instrument) were used to conduct hydrothermal investigations in concert with an extensive geophysics program that included seismology, aero-magnetics and heat-flow activities. Three NUI dives were conducted at the Aurora hydrothermal field, each of 9-10h duration including 2-4h of operations at the seafloor and at maximum horizontal separations away from the ship, under ice, of 1.4-2.1km. During the first dive we revisited the three previously known high temperature vents from Aurora and then set down and sampled at a new low-temperature vent site for mineralogy/microbiology. During our second dive we relocated to find three new high temperature vents including a conjugate pair of low and high temperature vents where we sampled for vent fluids. Our third dive started with high resolution bathymetric mapping of the entire system followed by completion of our fluid sampling program and, finally, bathymetry- and sensor-guided discovery of a series of three more low-temperature hydrothermal flow sites and four more high-temperature hydrothermal vents. After relocation to Lena Trough our final dive combined three separate phases of autonomous ocean sensing, autonomous seafloor mapping and a human-operated geological and biological reconnaissance traverse across the seafloor. This was our longest dive (10.33h in the water, 5.25h science operations at depth) and saw the ship travel 7.3km over that time, while NUI roamed up to 2.7km horizontally away from the ship.}
}
 

In July 2023 the Nereid Under Ice hybrid (autonomous/remotely operated) vehicle was used to explore submarine hydrothermal venting at two locations in the ice-covered Arctic Ocean, the Aurora hydrothermal field on the Gakkel Ridge and the Lucky B area in Lena Trough. These operations were conducted aboard FS Polarstern Cruise 137 ALOIS (Arctic Lithosphere Ocean Interaction Studies) where NUI, a CTD rosette and the OFOBS (camera and high resolution mapping instrument) were used to conduct hydrothermal investigations in concert with an extensive geophysics program that included seismology, aero-magnetics and heat-flow activities. Three NUI dives were conducted at the Aurora hydrothermal field, each of 9-10h duration including 2-4h of operations at the seafloor and at maximum horizontal separations away from the ship, under ice, of 1.4-2.1km. During the first dive we revisited the three previously known high temperature vents from Aurora and then set down and sampled at a new low-temperature vent site for mineralogy/microbiology. During our second dive we relocated to find three new high temperature vents including a conjugate pair of low and high temperature vents where we sampled for vent fluids. Our third dive started with high resolution bathymetric mapping of the entire system followed by completion of our fluid sampling program and, finally, bathymetry- and sensor-guided discovery of a series of three more low-temperature hydrothermal flow sites and four more high-temperature hydrothermal vents. After relocation to Lena Trough our final dive combined three separate phases of autonomous ocean sensing, autonomous seafloor mapping and a human-operated geological and biological reconnaissance traverse across the seafloor. This was our longest dive (10.33h in the water, 5.25h science operations at depth) and saw the ship travel 7.3km over that time, while NUI roamed up to 2.7km horizontally away from the ship.

@inproceedings{candela-agu2023-poster,
 	address = {San Francisco, California},
	author = {Alberto Candela and Philip Brodrick and David R. Thompson},
 	booktitle = {AGU Fall Meeting Abstract 2023},
 	clearance = {CL#23-6929 URS 321936},
 	month = {December},
 	project = {BayesianNeuralNetwork},
 	title = {Bayesian Neural Network for Surface Reflectance Modeling},
 	url = {https://ai.jpl.nasa.gov/public/documents/posters/Candela-AGU2023-BayesianNN.pdf},
 	year = {2023}
}

@inproceedings{thakker-et-al-iros2023-eels,
	address = {Detroit, MI, USA},
	author = {Rohan Thakker and Michael Paton and Marlin Polo Strub and Michael Swan and Guglielmo Daddi and Rob Royce and Matthew Gildner and Tiago Vaquero and Phillipe Tosi and Marcel Veismann and Peter Gavrilov and Eloise Marteau and Joseph Bowkett and Daniel Loret de Mola Lemus and Yashwanth Kumar Nakka and Benjamin Hockman and Andrew Orekhov and Tristan Hasseler and Carl Leake and Benjamin Nuernberger and Pedro F. Proenca and William Reid and William Talbot and Nikola Georgiev and Torkom Pailevanian and Avak Archanian and Eric Ambrose and Jay Jasper and Rachel Etheredge and Christiahn Roman and Daniel S Levine and Kyohei Otsu and Hovhannes Melikyan and Richard Rieber and Kalind Carpenter and Jeremy Nash and Abhinandan Jain and Lori Shiraishi and Ali-akbar Agha-mohammadi and Matthew Travers and Howie Choset and Joel Burdick and Masahiro Ono},
 	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
 	month = {October},
 	title = {EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures},
   	url = {https://ai.jpl.nasa.gov/public/documents/papers/thakker-et-al-iros2023-eels.pdf},
 	year = {2023},
 	clearance = {CL#23-3981 URS314880 },
 	project = {eels},
}

@inproceedings{rossi-vaquero-et-al-IEEE2023,
  	author = {Rossi, Federico and Stegun Vaquero, Tiago and Jorritsma, Marijke and Van Wyk, Ellen and Huffmann, Bennett and Allard, Dan and Dhamani, Nihal and Davidoff, Scott and Jasour, Ashkan and Barrett, Anthony and Amini, Rashied and Choukroun, Mathieu and Francis, Raymond and Hofstadter, Mark and Ingham, Michel and Verma, Vandi and Castano, Rebecca},
  	title = {Workflows, user interfaces, and algorithms for operations of autonomous spacecraft},
  	year = {2023},
  	keywords = {autonomy, UX, spacecraft, operations, JPL},
  	booktitle = {{IEEE Aerospace Conference}},
  	address = {Big Sky, MT},
 	month = {March},
  	doi = {10.1109/AERO55745.2023.10115605},
  	url = {https://ai.jpl.nasa.gov/public/documents/papers/rossi-vaquero-et-al-IEEE2023.pdf},
 	clearance = {CL #23-0352 URS312256 },
  	project = {OperationsForAutonomy}
}

@inproceedings{castano-et-al-spaceops2023,
	author = {Castano, Rebecca and Rossi, Federico and Stegun Vaquero, Tiago and Verma, Vandi and Allard, Dan and Amini, Rashied and Barrett, Anthony and Choukroun, Mathieu and Davidoff, Scott and Dhamani, Nihal and Francis, Raymond and Hofstadter, Mark and Huffmann, Bennett and Ingham, Michel and Jasour, Ashkan and Jorritsma, Marijke and Van Wyk, Ellen and Rabideau, Gregg},
 	title = {Operating Deep Space Autonomous Spacecraft: Ground Processes and Tools for Operability and Trust},
  	booktitle = {International Conference on Space Operations (SpaceOps)},
  	year = {2023},
  	month = {March},
  	address = {Dubai, UAE},
 	clearance = {CL #23-0810 URS314296 },
  	url = {https://ai.jpl.nasa.gov/public/documents/papers/castano-et-al-spaceops2023.pdf},
  	project = {OperationsForAutonomy}
}

@inproceedings{delfa-iwpss-2023,
	author = {Andrew Branch and Yuliya Marchetti and James Mason and James Montgomery and Margaret C. Johnson and Steve Chien and Longtao Wu and Benjamin Smith and Lukas Mandrake and Peyman Tavallali},
	title = {Federating Planning of Observations for Earth Science},
	year = {2023},
	month = {July},
	clearance = {CL#23-2868	URS315531},
	booktitle = {Proc. of International Workshop on Planning and Scheduling for Space},
	project = {POISE},
	url = {https://ai.jpl.nasa.gov/public/documents/papers/Branch-IWPSS2023-federated.pdf}
}

@article{candela-jais2023-dt,
	author = {Alberto Candela and Jason Swope and Steve Chien},
	title = {Dynamic Targeting to Improve Earth Science Missions},
	journal = {Journal of Aerospace Information Systems (JAIS)},
	volume = {20},
	number = {11},
	pages = {679-689},
	year = {2023},
	month = {September},
	doi = {10.2514/1.I011233},
	URL = {
        https://doi.org/10.2514/1.I011233
	},
	eprint = {
        https://doi.org/10.2514/1.I011233
	},
	project = {dt}
}

@article{swope-jais2023-iss,
	author = {Swope, Jason and Mirza, Faiz and Dunkel, Emily and Candela, Alberto and Chien, Steve and Holloway, Alexandra and Russell, Damon and Sauvageau, Joe and Sheldon, Douglas and Fernandez, Mark},
	title = {Benchmarking Space Mission Applications on the Snapdragon Processor Onboard the ISS},
	journal = {Journal of Aerospace Information Systems},
	volume = {20},
	number = {12},
	pages = {807-816},
	year = {2023},
	month = {December},
	doi = {10.2514/1.I011217},
	URL = {https://doi.org/10.2514/1.I011217},
	eprint = {https://doi.org/10.2514/1.I011217},
	abstract = { Future space missions will process and analyze imagery on board as well as plan and act more autonomously, placing greater demands on flight computing. Traditional flight hardware provides modest computing power, even when compared to common laptop and desktop computers. A new generation of commercial-off-the-shelf (COTS) processors designed for commercial electronics such as cell phones and tablets, such as the Qualcomm Snapdragon, deliver significant compute in a small size, weight, and power; and they offer hardware acceleration in the form of graphics processing units and digital signal processors. We benchmark a variety of instrument processing and mission planning software on a Qualcomm Snapdragon system on a chip currently hosted by Hewlett Packard Enterprise’s Spaceborne Computer-2 on board the International Space Station to highlight the potential of using embedded COTS processors on future space missions. },
	project = {iss}
}

Future space missions will process and analyze imagery on board as well as plan and act more autonomously, placing greater demands on flight computing. Traditional flight hardware provides modest computing power, even when compared to common laptop and desktop computers. A new generation of commercial-off-the-shelf (COTS) processors designed for commercial electronics such as cell phones and tablets, such as the Qualcomm Snapdragon, deliver significant compute in a small size, weight, and power; and they offer hardware acceleration in the form of graphics processing units and digital signal processors. We benchmark a variety of instrument processing and mission planning software on a Qualcomm Snapdragon system on a chip currently hosted by Hewlett Packard Enterprise’s Spaceborne Computer-2 on board the International Space Station to highlight the potential of using embedded COTS processors on future space missions.

@inproceedings{dt-astra-2023,
	author={Steve Chien and Alberto Candela and Juan Delfa and Akseli Kangaslahti and Abigail Breitfeld},
	title = {Expanding and Maturing Dynamic Targeting},
	year = {2023},
	month = {October},
	clearance = {URS319510, CL#23-4914},
	booktitle = {17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2023)},
	URL = { https://ai.jpl.nasa.gov/public/documents/papers/DT-Update-ASTRA-2023.pdf},	
	project = {dt}
}

@inproceedings{obp-astra-2023,
	author={Rebekah Siegfriedt and Steve Chien and Dan Gaines and Stephen Kuhn and James Hazelrig and James Biehl and Andrea Connell and Raymond Francis and Nick Waldram},
	title = {Mars 2020 Onboard Planner - Update And Preparations For Operations},
	year = {2023},
	month = {October},
	clearance = {URS319511, CL#23-4911},
	booktitle = {17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2023)},
	URL = { https://ai.jpl.nasa.gov/public/documents/papers/M2020-SP-ASTRA-2023.pdf},
	project = {m2020}
}

@article{dunkel-jais-benchmarking23,
		author = {Dunkel, Emily R. and Swope, Jason and Candela, Alberto and West, Lauren and Chien, Steve A. and Towfic, Zaid and Buckley, L\'{e}onie and Romero-Ca\~{n}as, Juan and Espinosa-Aranda, Jose Luis and Hervas-Martin, Elena and Fernandez, Mark R.},
		title = {Benchmarking Deep Learning Models on Myriad and Snapdragon Processors for Space Applications},
		journal = {Journal of Aerospace Information Systems},
		volume = {20},
		number = {10},
		pages = {660-674},
		month = {September},
		year = {2023},
		doi = {10.2514/1.I011216},
		URL = {https://ai.jpl.nasa.gov/public/documents/papers/dunkel-jais-benchmarking23.pdf},
		eprint = {https://doi.org/10.2514/1.I011216},
		project = {iss}
}

@misc{swope-smices-classification23,
    title={Using Unsupervised and Supervised Learning and Digital Twin for Deep Convective Ice Storm Classification}, 
    author={Jason Swope and Steve Chien and Emily Dunkel and Xavier Bosch-Lluis and Qing Yue and William Deal},
    year={2023},
	month = {September},
    eprint={2309.07173},
	archivePrefix={arXiv},
    primaryClass={cs.LG},
	url = {https://ai.jpl.nasa.gov/public/documents/papers/swope-smices-classification23.pdf},
	clearance = {CL\#23-4890 URS313422},
	project = {smices}
}

@article{saintguillain-asr2023-romie,
	title        = {Enabling Astronaut Self-Scheduling using a Robust Advanced Modelling and Scheduling system: an assessment during a Mars analogue mission},
	author       = {Saint-Guillain, M. and Vanderdonckt, J. and Burny, N. and Pletser, V. and Vaquero, T. and Chien, S. and Karl, A. and Marquez, J. and Wain, C. and Comein, A. and Casla, I.S. and Jacobs, J. and Meert, J. and Chamart, C. and Drouet, S. and Manon, J.},
	year         = 2023,
	journal      = {Advances in Space Research},
	publisher    = {Committee on Space Research},
	volume       = {},
	pages        = {},
	doi          = {10.1016/j.asr.2023.03.045},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/saintguillain-asr2023-romie.pdf},
	issue        = {},
	clearance = {CL#24-0582},
	project      = {romie}
}

@article{hook-ieee2023-mosaic,
	title        = {Multi-Robot On-site Shared Analytics Information and Computing},
	author       = {Vander Hook, Joshua and Rossi, Federico and Stegun Vaquero, Tiago and Troesch, Martina and Sanchez-Net, Marc and Schoolcraft, Joshua and de la Croix, Jean-Pierre and Chien, Steve},
	year         = 2023,
	journal      = {IEEE Transactions on Control of Networked Systems},
	publisher    = {Institute of Electrical and Electronics Engineers},
	volume       = 10,
	pages        = {169--181},
	doi          = {10.1109/TCNS.2022.3198789},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/hook-ieee2023-mosaic.pdf},
	issue        = 1,
	project      = {mosaic}
}

@article{parjan-jais2023-mas,
	title        = {Decentralized Observation Allocation for a Large-Scale Constellation},
	author       = {Parjan, Shreya and Chien, Steve},
	year         = 2023,
	month        = {August},
	journal      = {Journal of Aerospace Information Systems (JAIS)},
	volume       = 20,
	number       = 8,
	pages        = {447--461},
	doi          = {10.2514/1.I011215},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/parjan-jais2023-mas.pdf},
	project      = {constellations}
}

@article{vaquero-et-al-jais-2023,
	title        = {Property-Based Brittleness Analysis of Temporal Networks},
	author       = {T. S. Vaquero and S. A. Chien and J. Agrawal and M. Saint-Guillain and M. Parmentier},
	year         = 2023,
	journal      = {Journal of Aerospace Information Systems},
	publisher    = {AIAA},
	volume       = 20,
	number       = 7,
	pages        = {398--417},
	doi          = {10.2514/1.I011189},
	url          = {https://doi.org/10.2514/1.I011189},
	clearance    = {CL\#23-0819 URS308711},
	project      = {M2020, tasknet}
}

@article{verma-perseverance-science-robotics-2023,
	title        = {Autonomous robotics is driving Perseverance rovers progress on Mars},
	author       = {V. Verma and M. Maimone and D. Gaines and R. Francis and T. Estlin and S. Kuhn and G. Rabideau and S. Chien and M. McHenry and E. Graser and A. Rankin and E. Thiel},
	year         = 2023,
	month        = {July},
	journal      = {Science Robotics},
	publisher    = {Science},
	volume       = {8:80},
	pages        = {},
	url          = {https://doi.org/10.1126/scirobotics.adi3099},
	clearance    = {CL\#23-3433	URS315706},
	featured = 1,
	project      = {M2020}
}

@inproceedings{dunkel_estf_23,
	title        = {Benchmarking Deep Learning, Instrument Processing, and Mission Planning Applications on edge Processors onboard the ISS},
	author       = {Emily Dunkel and Jason Swope and Lauren West and Faiz Mirza and Steve Chien and Zaid Towfic and Alexandra Holloway and L\'{e}onie Buckley and Juan Romero-Canas and Jose Luis Espinosa-Aranda and Elena Hervas-Martin and Mark Fernandez and Carrie Knox},
	year         = 2023,
	month        = {June},
	booktitle    = {2023 Earth Science Technology Forum (ESTF)},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/dunkel-estf-23.pdf},
	clearance    = {URS316868, CL\#23-2984},
	project      = {iss}
}

@inproceedings{mason-estf-2023,
	title        = {Volcano Monitoring Using Commercial Satellites and Open Data},
	author       = {James Mason and Jason Swope and Ashley Davies and Steve Chien},
	year         = 2023,
	month        = {June},
	booktitle    = {Earth Science Technology Forum (ESTF)},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/Mason-ESTF2023.pdf},
	clearance    = {URS315008, CL\#23-3059},
	project      = {sensorweb}
}

@inproceedings{ieee_leo_sats_report,
	title        = {Towards Space Edge Computing and Onboard AI for Real-Time Teleoperations},
	author       = {Markus Gardill and Witold Kinsner and Jan Budroweit and Akram Al-Hourani and Emily Dunkel and Jason Swope and David Evans and Maximilian Staebler},
	year         = 2023,
	month        = {June},
	booktitle    = {IEEE International Conference on Cognitive Informatics and Cognitive Computing},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/ieee-leo-sats-report.pdf},
	clearance    = {URS317960, CL\#23-3715},
	project      = {iss}
}

@inproceedings{dt-icra2023-poster,
	title        = {Improving Earth Science Missions with Deep Reinforcement Learning},
	author       = {Alberto Candela and Jason Swope and Steve Chien},
	year         = 2023,
	month        = {May},
	booktitle    = {IEEE International Conference on Robotics and Automation (ICRA 2022) Late Breaking Poster},
	address      = {London, United Kingdom},
	url          = {https://ai.jpl.nasa.gov/public/documents/posters/DT-ICRA-2023-Poster.pdf},
	clearance    = {CL\#23-2132 URS 315890},
	project      = {dt}
}

@inproceedings{dunkel_ieee_leosat_23,
	title        = {Benchmarking Deep Learning Models and Running Memory Checkers on Edge Processors Onboard the ISS},
	author       = {Emily Dunkel and Jason Swope and Alberto Candela and Lauren West and Steve Chien and Zaid Towfic},
	year         = 2023,
	month        = {June},
	booktitle    = {IEEE LEO SatS 2023 Workshop},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/dunkle-ieee-leosat-23.pdf},
	clearance    = {URS317010, CL\#23-2985},
	project      = {iss}
}

@inproceedings{swope_ieee_leosat_23,
	title        = {Benchmarking Space Mission Applications on the Snapdragon Processor on-board the ISS},
	author       = {Jason Swope and Faiz Mirza and Emily Dunkel and Zaid Towfic and Steve Chien and Damon Russell and Joe Sauvageau and Doug Sheldon and Mark Fernandez and Carrie Knox},
	year         = 2023,
	month        = {June},
	booktitle    = {IEEE LEO SatS 2023 Workshop},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/swope-ieee-leosat-23.pdf},
	clearance    = {URS317319, CL\#23-3125},
	project      = {iss}
}

@inproceedings{kangaslahti-sensorweb-igarss2023,
	title        = {Using a Sensorweb for High-Resolution Flood Monitoring on a Global Scale},
	author       = {Akseli Kangaslahti and Steve Chien and Jason Swope and James Mason and Joel Mueting and Tanya Harrison},
	year         = 2023,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IEEE IGARSS)},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/kangaslahti-igarss23-sensorweb.pdf},
	project      = {sensorweb},
	clearance    = {URS316553 CL\#23-2693}
}

@inproceedings{mason-igarss-2023,
	title        = {Fully Automated Volcano Monitoring and Tasking with Planet SkySat Constellation: Results from a Year of Operations},
	author       = {James Mason and Tessa Holzmann and Jason Swope and Ashley Davies and Steve Chien and Joel Mueting and Tanya Harrison and Vishwa Shah and JJ Walter},
	year         = 2023,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IEEE IGARSS)},
	url = {https://ai.jpl.nasa.gov/public/documents/papers/IGARSS-2023-VSW.pdf},
	eprint = {https://ieeexplore.ieee.org/document/10281772},
	doi = {10.1109/IGARSS52108.2023.10281772},
	clearance    = {URS316557, CL\#23-2703},
	project      = {sensorweb}
}

@inproceedings{dailis_aerie_2023,
	title        = {Aerie: A Modern Multi-Mission Planning, Scheduling, and Sequencing System},
	author       = {Dailis, Matthew and Ferguson, Eric and Camargo, Chris and Maillard, Adrien},
	year         = 2023,
	month        = {June},
	booktitle    = {Proc. of International Workshop on Planning and Scheduling for Space},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/Dailis-IWPSS2023-Aerie.pdf},
	clearance    = {CL\#23-2718},
	project      = {aerie}
}

@inproceedings{delfa-iwpss-2023,
	title        = {Enhanced Dynamic Targeting for the OPSSAT Cubesat},
	author       = {Juan M. Delfa Victoria and Alberto Candela and Steve A. Chien},
	year         = 2023,
	month        = {July},
	booktitle    = {Proc. of International Workshop on Planning and Scheduling for Space},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/Delfa-IWPSS2023-DT.pdf},
	clearance    = {URS316678, CL\#23-2651},
	project      = {DT}
}

@inproceedings{maillard_sdc_2023,
	title        = {Where is my coverage? Using explainable automated scheduling to inform mission design of an Earth-observing constellation},
	author       = {Maillard, Adrien and Wells, Christopher and Eveisgharan, Shadi and Rosen, Paul and Chien, Steve},
	year         = 2023,
	month        = {June},
	booktitle    = {Proc. of International Workshop on Planning and Scheduling for Space},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/SDC-IWPSS-23.pdf},
	clearance    = {CL\#23-2654},
	project      = {sdc}
}

@inproceedings{maillard_emit_2023,
	title        = {Automated Scheduling for Operating the Earth Surface Mineral Dust Source Investigation Instrument on the International Space Station},
	author       = {Maillard, Adrien and Yelamanchili, Amruta and Joyce, Michael and  Bennett, Matthew and Lockhard, Thomas and Pillai,Jacob and Jhalani, Vatsal and Thompson, David and Oiada, Bogdan},
	year         = 2023,
	month        = {June},
	booktitle    = {Proc. of International Workshop on Planning and Scheduling for Space},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/EMIT-IWPSS-23.pdf},
	clearance    = {URS315573 CL\#23-2652},
	project      = {emit}
}

@inproceedings{parjan-m2020-iwpss-2023,
	title        = {Towards Trusted Mars Autonomy: V\&V of the M2020 On Board Planner's Thermal Management Capabilities},
	author       = {S. Parjan and D. Gaines},
	year         = 2023,
	month        = {July},
	booktitle    = {Proceedings of the International Workshop on Planning and Scheduling for Space (IWPSS)},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/parjan-m2020-iwpss-2023.pdf},
	clearance    = {URS317232, CL\#23-3074},
	project      = {m2020}
}

@inproceedings{ogut-nrsm2023-smices,
	title        = {Smart Ice Cloud Sensing (SMICES) SmallSat Instrument},
	author       = {Mehmet Ogut and Pekka Kangaslahti and Isaac Ramos and Xavier Bosch-Lluis and Omkar Pradhan and Joan Munoz-Martin and Joelle Cooperrider and William Chun and Akim Babenko and Jason Swope and Peyman Tavallali and Steve Chien and William Deal and Caitlyn Cooke},
	year         = 2023,
	month        = {January},
	booktitle    = {USNC-URSI National Radio Science Meeting (NRSM)},
	project      = {smices},
	clearance    = {CL\#22-5561 URS311823}
}

@inproceedings{candela-icaps-haxp-2023,
	title        = {Outcome Prediction and Explainability for Mission Operations of Autonomous Spacecraft},
	author       = {Alberto Candela and Tiago S. Vaquero and Bennett Huffman and Nihal Dhamani and Federico Rossi and Rebecca Casta\~no},
	year         = 2023,
	month        = {July},
	booktitle    = {Workshop on Human-Aware and Explainable Planning (HAXP), International Conference on Automated Planning and Scheduling (ICAPS HAXP 2023)},
	note         = {Also presented at International Workshop on Planning and Scheduling for Space (IWPSS 2023) and appears as an abstract.},
	project      = {OperationsForAutonomy}
}

@article{hand2022science,
	doi = {10.3847/PSJ/ac4493},
	url = {https://iopscience.iop.org/article/10.3847/PSJ/ac4493/pdf},
	year = {2022},
	month = {January},
	publisher = {The American Astronomical Society},
	project = {europa-lander},
	volume = {3},
	number = {1},
	pages = {22},
	author = {K. P. Hand and C. B. Phillips and A. Murray and J. B. Garvin and E. H. Maize and R. G. Gibbs and G. Reeves and A. M. San Martin and G. H. Tan-Wang and J. Krajewski and K. Hurst and R. Crum and B. A. Kennedy and T. P. McElrath and J. C. Gallon and D. Sabahi and S. W. Thurman and B. Goldstein and P. Estabrook and S. W. Lee and J. A. Dooley and W. B. Brinckerhoff and K. S. Edgett and C. R. German and T. M. Hoehler and S. M. Hörst and J. I. Lunine and C. Paranicas and K. Nealson and D. E. Smith and A. S. Templeton and M. J. Russell and B. Schmidt and B. Christner and B. Ehlmann and A. Hayes and A. Rhoden and P. Willis and R. A. Yingst and K. Craft and M. E. Cameron and T. Nordheim and J. Pitesky and J. Scully and J. Hofgartner and S. W. Sell and K. J. Barltrop and J. Izraelevitz and E. J. Brandon and J. Seong and J.-P. Jones and J. Pasalic and K. J. Billings and J. P. Ruiz and R. V. Bugga and D. Graham and L. A. Arenas and D. Takeyama and M. Drummond and H. Aghazarian and A. J. Andersen and K. B. Andersen and E. W. Anderson and A. Babuscia and P. G. Backes and E. S. Bailey and D. Balentine and C. G. Ballard and D. F. Berisford and P. Bhandari and K. Blackwood and G. S. Bolotin and E. A. Bovre and J. Bowkett and K. T. Boykins and M. S. Bramble and T. M. Brice and P. Briggs and A. P. Brinkman and S. M. Brooks and B. B. Buffington and B. Burns and M. L. Cable and S. Campagnola and L. A. Cangahuala and G. A Carr and J. R. Casani and N. E. Chahat and B. K. Chamberlain-Simon and Y. Cheng and Steve Chien and B. T. Cook and M. Cooper and M. DiNicola and B. Clement and Z. Dean and E. A. Cullimore and A. G. Curtis and J-P. de la Croix and P. Di Pasquale and E. M. Dodd and L. A. Dubord and J. A. Edlund and R. Ellyin and B. Emanuel and J. T. Foster and A. J. Ganino and G. J. Garner and M. T. Gibson and M. Gildner and K. J. Glazebrook and M. E. Greco and W. M. Green and S. J. Hatch and M. M. Hetzel and W. A. Hoey and A. E. Hofmann and R. Ionasescu and A. Jain and J. D. Jasper and J. R. Johannesen and G. K. Johnson and I. Jun and A. B. Katake and S. Y. Kim-Castet and D. I. Kim and W. Kim and E. F. Klonicki and B. Kobeissi and B. D. Kobie and J. Kochocki and M. Kokorowski and J. A. Kosberg and K. Kriechbaum and T. P. Kulkarni and R. L. Lam and D. F. Landau and M. A. Lattimore and S. L. Laubach and C. R. Lawler and G. Lim and J. Y Lin and T. E. Litwin and M. W. Lo and C. A. Logan and E. Maghasoudi and L. Mandrake and Y. Marchetti and E. Marteau and K. A. Maxwell and J. B. Mc Namee and O. Mcintyre and M. Meacham and J. P. Melko and J. Mueller and D. A. Muliere and A. Mysore and J. Nash and H. Ono and J. M. Parker and R. C. Perkins and A. E Petropoulos and A. Gaut and M. Y. Piette Gomez and R. P. Casillas and M. Preudhomme and G. Pyrzak and J. Rapinchuk and J. M. Ratliff and T. L. Ray and E. T. Roberts and K. Roffo and D. C. Roth and Joseph Russino and T. M. Schmidt and M. J. Schoppers and J. S. Senent and F. Serricchio and D. J. Sheldon and L. R. Shiraishi and J. Shirvanian and K. J. Siegel and G. Singh and A. R. Sirota and E. D. Skulsky and J. S. Stehly and N. J. Strange and S. U. Stevens and E. T. Sunada and S. P. Tepsuporn and L. P. C. Tosi and N. Trawny and I. Uchenik and V. Verma and R. A. Volpe and Caleb Wagner and D. Wang and R. G. Willson and J. L. Wolff and A. T. Wong and A. K. Zimmer and K. G. Sukhatme and K. A. Bago and Y. Chen and A. M. Deardorff and R. S. Kuch and C. Lim and M. L. Syvertson and G. A. Arakaki and A. Avila and K. J. DeBruin and A. Frick and J. R. Harris and M. C. Heverly and J. M. Kawata and S.-K. Kim and D. M. Kipp and J. Murphy and M. W. Smith and M. D. Spaulding and R. Thakker and N. Z. Warner and C. R. Yahnker and M. E. Young and T. Magner and D. Adams and P. Bedini and L. Mehr and C. Sheldon and S. Vernon and V. Bailey and M. Briere and M. Butler and A. Davis and S. Ensor and M. Gannon and A. Haapala-Chalk and T. Hartka and M. Holdridge and A. Hong and J. Hunt and J. Iskow and F. Kahler and K. Murray and D. Napolillo and M. Norkus and R. Pfisterer and J. Porter and D. Roth and P. Schwartz and L. Wolfarth and E. H. Cardiff and A. Davis and E. W. Grob and J. R. Adam and E. Betts and J. Norwood and M. M. Heller and T. Voskuilen and P. Sakievich and L. Gray and D. J. Hansen and K. W. Irick and J. C. Hewson and J. Lamb and S. C. Stacy and C. M. Brotherton and A. S Tappan and D. Benally and H. Thigpen and E. Ortiz and D. Sandoval and A. M. Ison and M. Warren and P. G. Stromberg and P. M. Thelen and B. Blasy and P. Nandy and A. W. Haddad and L. B. Trujillo and T. H. Wiseley and S. A. Bell and N. P. Teske and C. Post and L. Torres-Castro and C. Grosso and M. Wasiolek},
	title = {Science Goals and Mission Architecture of the Europa Lander Mission Concept},
	journal = {The Planetary Science Journal},
	abstract = {Europa is a premier target for advancing both planetary science and astrobiology, as well as for opening a new window into the burgeoning field of comparative oceanography. The potentially habitable subsurface ocean of Europa may harbor life, and the globally young and comparatively thin ice shell of Europa may contain biosignatures that are readily accessible to a surface lander. Europa’s icy shell also offers the opportunity to study tectonics and geologic cycles across a range of mechanisms and compositions. Here we detail the goals and mission architecture of the Europa Lander mission concept, as developed from 2015 through 2020. The science was developed by the 2016 Europa Lander Science Definition Team (SDT), and the mission architecture was developed by the preproject engineering team, in close collaboration with the SDT. In 2017 and 2018, the mission concept passed its mission concept review and delta-mission concept review, respectively. Since that time, the preproject has been advancing the technologies, and developing the hardware and software, needed to retire risks associated with technology, science, cost, and schedule.}
}

Europa is a premier target for advancing both planetary science and astrobiology, as well as for opening a new window into the burgeoning field of comparative oceanography. The potentially habitable subsurface ocean of Europa may harbor life, and the globally young and comparatively thin ice shell of Europa may contain biosignatures that are readily accessible to a surface lander. Europa’s icy shell also offers the opportunity to study tectonics and geologic cycles across a range of mechanisms and compositions. Here we detail the goals and mission architecture of the Europa Lander mission concept, as developed from 2015 through 2020. The science was developed by the 2016 Europa Lander Science Definition Team (SDT), and the mission architecture was developed by the preproject engineering team, in close collaboration with the SDT. In 2017 and 2018, the mission concept passed its mission concept review and delta-mission concept review, respectively. Since that time, the preproject has been advancing the technologies, and developing the hardware and software, needed to retire risks associated with technology, science, cost, and schedule.

@article{saint-guillain_romie_eaai_2022,
	title        = {Romie: A domain-independent tool for computer-aided robust operations management},
	author       = {Michael Saint-Guillain and Jonas Gibaszeka and Tiago Vaquero and Steve Chien},
	year         = 2022,
	journal      = {Engineering Applications of Artificial Intelligence},
	publisher    = {Elsevier},
	volume       = {Volume 111, May 2022, 104801},
	url          = {https://doi.org/10.1016/j.engappai.2022.104801},
	clearance    = {CL\#21-0785    URS298554},
	project      = {}
}

@article{sanchez2022cycler,
	title        = {Cycler Orbits and Solar System Pony Express},
	author       = {Sanchez Net, Marc and Pellegrini, Etienne and Parker, Wilson and Vander Hook, Joshua and Woollands, Robyn},
	year         = 2022,
	journal      = {Journal of Spacecraft and Rockets},
	publisher    = {American Institute of Aeronautics and Astronautics},
	pages        = {1--10},
	url          = {https://arc.aiaa.org/doi/10.2514/1.A35091}
}

@article{clark-et-al-RSS2022,
	title        = {PropEM-L: Radio Propagation Environment Modeling and Learning for Communication-Aware Multi-Robot Exploration},
	author       = {Lillian Clark and Jeffrey A. Edlund and Marc Sanchez Net and Tiago Stegun Vaquero and Ali{-}akbar Agha{-}mohammadi},
	year         = 2022,
	month        = {June},
	journal      = {Robotics: Science and Systems (RSS)},
	address      = {New York City, NY, USA},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/clark-et-al-RSS2022.pdf},
	clearance    = {CL\#22-2105  URS305889},
	project      = {subt}
}

@article{Woollands-et-al-2022,
	title        = {Maximizing Dust Devil Follow-Up Observations on Mars Using Cubesats and On-Board Scheduling},
	author       = {Woollands, Robyn and Rossi, Federico and Stegun Vaquero, Tiago and Sanchez Net, Marc and Bae, S. Sandra and Bickel, Valentin and Vander Hook, Joshua},
	year         = 2022,
	month        = {May},
	day          = 31,
	journal      = {The Journal of the Astronautical Sciences},
	doi          = {10.1007/s40295-022-00317-z},
	issn         = {2195-0571},
	url          = {https://doi.org/10.1007/s40295-022-00317-z},
	abstract     = {Several million dust devil events occur on Mars every day. These events last, on average, about 30 minutes and range in size from meters to hundreds of meters in diameter. Designing low-cost missions that will improve our knowledge of dust devil formation and evolution, and their connection to atmospheric dynamics and the dust cycle, is fundamental to informing future crewed Mars lander missions about surface conditions. In this paper we present a mission for a constellation of low orbiting Mars cubesats, each carrying imagers with agile pointing capabilities. The goal is to maximize the number of dust devil follow-up observations through real-time, on-board scheduling. We study scenarios where cubesats are equipped with a 2.5 degree boresight angle camera that accommodates twenty-one slew positions (including nadir). We assume a concept of operations where the cubesats autonomously survey the surface of Mars and can autonomously detect dust devils from their surface imagery. When a dust devil is detected, the constellation is autonomously re-tasked through an onboard distributed scheduler to capture as many follow-on images of the event as possible, so as to study its evolution. The cubesat orbits are propagated assuming two-body dynamics and the ground tracks and camera field of view are computed assuming a spherical Mars. Realistic inter-agent communication link opportunities are computed and included in our optimization, which allow for real-time event detection information to be shared within the constellation. We compare against a powerful ``omniscient'' oracle which has a priori knowledge of all dust devil activity to show the gap between predicted performance and the best possible outcome. In particular, we show that the communications are especially important for acquiring follow-up observations, and that a realistic distributed scheduling mechanism is able to capture a large fraction of all dust devil observations that are possible for a given orbit configuration, significantly outperforming a nadir-pointing heuristic.},
	clearance    = {CL\#21-0583  URS298324},
	project      = {mosaic}
}

Several million dust devil events occur on Mars every day. These events last, on average, about 30 minutes and range in size from meters to hundreds of meters in diameter. Designing low-cost missions that will improve our knowledge of dust devil formation and evolution, and their connection to atmospheric dynamics and the dust cycle, is fundamental to informing future crewed Mars lander missions about surface conditions. In this paper we present a mission for a constellation of low orbiting Mars cubesats, each carrying imagers with agile pointing capabilities. The goal is to maximize the number of dust devil follow-up observations through real-time, on-board scheduling. We study scenarios where cubesats are equipped with a 2.5 degree boresight angle camera that accommodates twenty-one slew positions (including nadir). We assume a concept of operations where the cubesats autonomously survey the surface of Mars and can autonomously detect dust devils from their surface imagery. When a dust devil is detected, the constellation is autonomously re-tasked through an onboard distributed scheduler to capture as many follow-on images of the event as possible, so as to study its evolution. The cubesat orbits are propagated assuming two-body dynamics and the ground tracks and camera field of view are computed assuming a spherical Mars. Realistic inter-agent communication link opportunities are computed and included in our optimization, which allow for real-time event detection information to be shared within the constellation. We compare against a powerful ``omniscient'' oracle which has a priori knowledge of all dust devil activity to show the gap between predicted performance and the best possible outcome. In particular, we show that the communications are especially important for acquiring follow-up observations, and that a realistic distributed scheduling mechanism is able to capture a large fraction of all dust devil observations that are possible for a given orbit configuration, significantly outperforming a nadir-pointing heuristic.

@inproceedings{dt-astra2022,
	title        = {Dynamic Targeting for Cloud Avoidance to Improve Science of Space Missions},
	author       = {Alberto Candela and Jason Swope and Steve Chien},
	year         = 2022,
	month        = {June},
	booktitle    = {16th Symposium on Advanced Space Technologies in Robotics and Automation},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/Candela-DT-ASTRA-2022.pdf},
	clearance    = {CL\#22-2091    URS307813},
	project      = {dt}
}

@inproceedings{m2020-planner-astra2022,
	title        = {Onboard Planning for the Mars 2020 Perseverance Rover},
	author       = {Dan Gaines and Steve Chien and Gregg Rabideau and Stephen Kuhn and Vincent Wong and Amruta Yelamanchili and Shannon Towey and Jagriti Agrawal and Wayne Chi and Andrea Connell and Evan Davis and Colette Lohr},
	year         = 2022,
	month        = {June},
	booktitle    = {16th Symposium on Advanced Space Technologies in Robotics and Automation},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/M2020-OBP-ASTRA-2022-Final.pdf},
	clearance    = {CL\#22-1884  URS307658},
	project      = {m2020}
}

@inproceedings{dl-astra2022,
	title        = {Testing Mars Rover, Spectral Unmixing, And Ship Detection Neural Networks, And Memory Checkers On Embedded Systems Onboard The Iss},
	author       = {Emily Dunkel and Jason Swope and Alberto Candela and Lauren West and Steve Chien and \'{L}eonie Buckley and Juan Romero-Canas and Jose Luis Espinosa-Aranda and Elena Hervas-Martin and Zaid Towfic and Damon Russell and Joseph Sauvageau and Douglas Sheldon and Mark Fernandez and Carrie Knox},
	year         = 2022,
	month        = {June},
	booktitle    = {16th Symposium on Advanced Space Technologies in Robotics and Automation},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/Dunkel-DL-ISS-ASTRA-2022.pdf},
	clearance    = {CL\#22-2106    URS307831},
	project      = {iss}
}

@inproceedings{gulain-astra2022,
	title        = {Enabling Astronaut Self-Scheduling Using A Robust Modelling And Scheduling System (Rams): A Mars Analog Use Case},
	author       = {Michael Saint-Guillain and Jean Vanderdonckt and Nicolas Burny and Vladimir Pletser and Tiago Vaquero and Steve Chien and Alexander Karl Audrey Comein and Cheyenne Chamart and Cyril Wain and Ignacio S. Casla and Jean Jacobs and Julie Manon and Julien Meert and Sirga Drouet},
	year         = 2022,
	month        = {June},
	booktitle    = {16th Symposium on Advanced Space Technologies in Robotics and Automation},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/Gulain-ASTRA-2022.pdf},
	clearance    = {},
	project      = {}
}

@inproceedings{el-se-astra2022,
	title        = {Onboard Scheduling and Execution for Addressing Uncertainty in a Planetary Lander},
	author       = {Steve Chien and Jean-Pierre de la Croix and Joe Russino and Caleb Wagner and Gregg Rabideau and Daniel Wang and Grace Lim and Dustin Aguilar and Yuliya Marchetti and Scott Tepsuporn and Philip Twu and Cecilia Mauceri and Grace Tan-Wang and Glenn Reeves},
	year         = 2022,
	month        = {June},
	booktitle    = {16th Symposium on Advanced Space Technologies in Robotics and Automation},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/EL-ASTRA-Camera-2022.pdf},
	clearance    = {CL\#22-2035    URS307698},
	project      = {europa-lander}
}

@inproceedings{snap-astra2022,
	title        = {Benchmarking Remote Sensing Image Processing And Mission Planning Applications On The Snapdragon Processor Onboard The International Space Station},
	author       = {Swope, Jason and Faiz Mirza and Emily Dunkel and Alberto Candela and Zaid Towfic and Steve Chien and Damon Russell and Joe Sauvageau and Doug Sheldon and Mark Fernandez and Carrie Knox},
	year         = 2022,
	month        = {June},
	booktitle    = {16th Symposium on Advanced Space Technologies in Robotics and Automation},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/Swope-Autonomy-ISS-ASTRA-2022.pdf},
	clearance    = {CL\#22-2103    URS307807},
	project      = {iss}
}

@inproceedings{towfic-ieee-aero-2022,
	title        = {Benchmarking and Testing of Qualcomm Snapdragon System-on-Chip for JPL Space Applications and Missions},
	author       = {Towfic, Zaid and Ogbe, Dennis and Sauvageau, Joe and Sheldon, Douglas and Jongeling, Andre and Chien, Steve and Mirza, Faiz and Dunkel, Emily and Swope, Jason and Ogut, Mehmet and Cretu, Vlad and Pagnotta, Chris},
	year         = 2022,
	booktitle    = {2022 IEEE Aerospace Conference (AERO)},
	volume       = {},
	number       = {},
	pages        = {1--12},
	doi          = {10.1109/AERO53065.2022.9843518}
}

@inproceedings{davies-vsw-cities-volcanoes-2022,
	title        = {The NASA-JPL Volcano Sensor Web (VSW): The Next Iteration},
	author       = {Ashley Gerard Davies and Steve Chien and James Mason and, Jason Swope and Amruta Yelamanchili and, Kerry Cawse-Nicholson and Joel Mueting and Vishwa Shah and Tanya Harrison},
	year         = 2022,
	month        = {June},
	booktitle    = {Cities on Volcanoes 11},
	address      = {Heraklion, Crete},
	url          = {https://ai.jpl.nasa.gov/public/documents/posters/davies-vsw-cities-volcanoes-2022.pdf},
	clearance    = {CL\#22-2284    URS308056},
	project      = {sensorweb}
}

@inproceedings{gaines_marsplanner_fsw_2022,
	title        = {The Mars 2020 On-Board Planner: Balancing Performance and Computational Constraints},
	author       = {D. Gaines and G. Rabideau and V. Wong and S. Kuhn and E. Fosse and S. Chien},
	year         = 2022,
	month        = {February},
	booktitle    = {Flight Software Workshop},
	url          = {https://ai.jpl.nasa.gov/public/documents/presentations/OBP-FSW22-2022-01-07.pdf},
	clearance    = {CL\#22-0081 URS305481},
	project      = {m2020}
}

@inproceedings{swope_snapdragon_fsw_2022,
	title        = {Validation of Flight Software on the Qualcomm Snapdragon 855 on the International Space Station},
	author       = {J. Swope and E. Dunkel and S. Chien},
	year         = 2022,
	month        = {February},
	booktitle    = {Flight Software Workshop},
	url          = {https://ai.jpl.nasa.gov/public/documents/presentations/FSW-2022-Snapdragon-Presentation.pdf},
	clearance    = {CL\#22-0434 URS305858},
	project      = {cpu-iss}
}

@inproceedings{dunkel_movidius_fsw_2022,
	title        = {Benchmarking Deep Learning on The Myriad X Processor Onboard the International Space Station},
	author       = {L. Buckley and E. Dunkel and J. Romero-Canas and  J. Espinosa-Aranda and E. Hervas-Martin and J. Swope and Z. Towfic and S. Chien and D. Russell and J. Sauvageau and D. Sheldon and M. Fernandez and C. Knox},
	year         = 2022,
	month        = {February},
	booktitle    = {Flight Software Workshop},
	url          = {https://ai.jpl.nasa.gov/public/documents/presentations/FSW2022-Benchmarking-DL-Buckley.pdf},
	clearance    = {CL\#22-0275 URS305782},
	project      = {cpu-iss}
}

@inproceedings{castano-etal-AERO2022,
	title        = {Operations for Autonomous Spacecraft},
	author       = {Rebecca Castano and Tiago Vaquero and Federico Rossi and Vandi Verma and Ellen Van Wyk and Dan Allard and Bennett Huffman and Erin Murphy and Nihal Dhamani and Robert Hewitt and Scott Davidoff and Rashied Amini and Anthony Barrett  and Julie Castillo-Rogez and Mathieu Choukroun and Alain Dadaian and Raymond Francis and Ben Gorr and Mark Hofstadter and Mitch Ingham and Cristina Sorice and Iain Tierney},
	year         = 2022,
	month        = {March},
	booktitle    = {IEEE Aerospace Conference},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/castano-etal-AERO2022.pdf},
	project      = {OperationsForAutonomy}
}

@inproceedings{dt-iros2022-poster,
	title        = {Dynamic Targeting to Improve Earth Science Missions},
	author       = {Alberto Candela and Jason Swope and Steve Chien},
	year         = 2022,
	month        = {October},
	booktitle    = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) Late Breaking Poster},
	address      = {Kyoto, Japan},
	url          = {https://ai.jpl.nasa.gov/public/documents/posters/DT-IROS-2022-Poster.pdf},
	clearance    = {CL\#22-5331 URS 311810},
	project      = {dt}
}

@inproceedings{el-iros2022-poster,
	title        = {Onboard Scheduling and Execution to Address Uncertainty for a Planetary Lander},
	author       = {Steve Chien and Jean-Pierre de la Croix and Joe Russino and Caleb Wagner and Gregg Rabideau and Daniel Wang and Grace Lim and Dustin Aguilar and Yuliya Marchetti and Scott Tepsuporn and Philip Twu and Cecilia Mauceri and Grace Tan-Wang and Glenn Reeves},
	year         = 2022,
	month        = {October},
	booktitle    = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) Late Breaking Poster},
	address      = {Kyoto, Japan},
	url          = {https://ai.jpl.nasa.gov/public/documents/posters/EL-IROS-2022-Poster.pdf},
	clearance    = {CL \#22-5344 URS 311441},
	project      = {europa-lander}
}

@inproceedings{basich-iros2022,
	title        = {A Sampling Based Approach to Robust Planning for a Planetary Lander},
	author       = {Basich, Connor and Russino, Joseph and Chien, Steve and Zilberstein, Shlomo},
	year         = 2022,
	month        = {October},
	booktitle    = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)},
	address      = {Kyoto, Japan},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/basich-iros2022.pdf},
	clearance    = {CL\#22-4305  URS309762},
	project      = {europa-lander}
}

@inproceedings{saboia-et-al-rss2022,
	title        = {ACHORD: Communication{-}Aware Multi-Robot Coordination with Intermittent Connectivity},
	author       = {Maira Saboia and Lillian Clark and Vivek Thangavelu and Jeffrey A. Edlund and Kyohei Otsu and Gustavo J. Correa and Vivek Shankar Varadharajan and Angel Santamaria{-}Navarro and Thomas Touma and Amanda Bouman and Hovhannes Melikyan and Torkom Pailevanian and Sung{-}Kyun Kim and Avak Archanian and Tiago Stegun Vaquero and Giovanni Beltrame and Nils Napp and Gustavo Pessin and Ali{-}akbar Agha{-}mohammadi},
	year         = 2022,
	month        = {October},
	booktitle    = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)},
	address      = {Kyoto, Japan},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/saboia-et-al-rss2022.pdf},
	clearance    = {CL\#22-0999  URS306662},
	project      = {subt}
}

@inproceedings{europa-lander-uncertainty-icaps2022,
	title        = {Analyzing the Efficacy of Flexible Execution, Replanning, and Plan Optimization for a Planetary Lander},
	author       = {Wang, D. and Russino, J. A. and Basich, C. and Chien, S.},
	year         = 2022,
	month        = {June},
	booktitle    = {International Conference on Automated Planning and Scheduling},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/icaps2022-europa-lander-analyzing.pdf},
	clearance    = {CL\#22-1579  URS307166},
	project      = {europa-lander, mexec}
}

@inproceedings{dt-igarss2022,
	title        = {Dynamic Targeting for Improved Tracking of  Storm Features},
	author       = {Alberto Candela and Jason Swope and Steve Chien and Hui Su and Peyman Tavallali},
	year         = 2022,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGARSS 2022)},
	address      = {Kuala Lumpur, Malaysia},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/IGARSS-2022-Candela-DT.pdf},
	clearance    = {CL\#22-2090    URS305602},
	project      = {dt}
}

@inproceedings{iss-dl-igarss2022,
	title        = {Benchmarking Deep Learning Inference of Remote Sensing Imagery on the Qualcomm Snapdragon and Intel Movidius Myriad X Processors Onboard the International Space Station},
	author       = {Emily Dunkel and Jason Swope and Zaid Towfic and Steve Chien and Damon Russell and Joseph Sauvageau and Douglas Sheldon and Juan Romero-Canas and Jose Luis Espinosa-Aranda and Leonie Buckley and Elena Hervas-Martin and Mark Fernandez and Carrie Knox},
	year         = 2022,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGARSS 2022)},
	address      = {Kuala Lumpur, Malaysia},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/IGARSS-2022-DL-Movidius-camera.pdf},
	clearance    = {CL\#22-1927 URS305511},
	project      = {iss}
}

@inproceedings{iss-snap-igarss2022,
	title        = {Benchmarking Remote Sensing Image Processing and Analysis on the Snapdragon Processor Onboard the International Space Station},
	author       = {Jason Swope and Faiz Mirza and Emily Dunkel and Zaid Towfic and Damon Russell and Joe Sauvageau and Doug Sheldon and Steve Chien and Mark Fernandez and Carrie Knox},
	year         = 2022,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGARSS 2022)},
	address      = {Kuala Lumpur, Malaysia},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/IGARSS2022-Onboard-Not-DL-IGARSS2022-Camera.pdf},
	clearance    = {CL\#22-22-1955    URS305516},
	project      = {iss}
}

@inproceedings{smices-igarss2022,
	title        = {Autonomous Capabilities And Command And Data Handling Design For The Smart Remote Sensing Of Cloud Ice},
	author       = {Mehmet Ogut and Xavier Bosch-Lluis and Pekka Kangaslahti and Isaac Ramos-Perez and Joan Francesc Munoz-Martin and Joelle Cooperrider and Qing Yue and Jason Swope and Peyman Tavallali and Steve Chien and Omkar Pradhan and William Deal and Caitlyn Cooke},
	year         = 2022,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGARSS 2022)},
	address      = {Kuala Lumpur, Malaysia},
	clearance    = {CL\#22-3219    URS305555},
	project      = {smices}
}

@inproceedings{nos-igarss2022,
	title        = {Demonstrating a New Flood Observing Strategy on the NOS Testbed},
	author       = {Smith, Ben and Kumar, Sujay and Nguyen, Louis and Chee, Thad and Mason, James and Chien, Steve and Frost, Chad and Akbar, Ruzbeh and Moghaddam, Mahta and Getirana, Augusto and Capra, Leigha and Grogan, Paul},
	year         = 2022,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGARSS 2022)},
	address      = {Kuala Lumpur, Malaysia},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/NOS-Flood-IGARSS-2022.pdf},
	clearance    = {CL\#22-0057 URS305541},
	project      = {nos}
}

@inproceedings{ros-laas-ijcai2022,
	title        = {An Efficient Approach to Data Transfer Scheduling for Long Range Space Exploration},
	author       = {Emmanuel Hebrard and Christian Artigues and Pierre Lopez and Arnaud Lusson and Steve Chien and Adrien Maillard and Gregg Rabideau},
	year         = 2022,
	month        = {July},
	booktitle    = {International Joint Conference on Artificial Intelligence (IJCAI 2022)},
	address      = {Vienna, Austria},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/Rosetta-LAAS-IJCAI-2022.pdf},
	project      = {rosetta}
}

@inproceedings{castano_ops-for-autonomy_LPSC_2022,
	title        = {Operations For Autonomous Spacecraft: Workflows And Tools For A Neptune Tour Case Study},
	author       = {R. Castano and T. Vaquero and F. Rossi and V. Verma and  M. Choukroun and D. Allard and R. Amini and A. Barrett and J. Castillo-Rogez and N. Dhamani and R. Francis and M. Hofstadter and M. Ingham and A. Jasour and M. Jorritsma and E. Van Wyk and S. Chien},
	year         = 2022,
	month        = {March},
	booktitle    = {Lunar and Planetary Science Conference (LPSC)},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/castano-ops-for-autonomy-LPSC-2022.pdf},
	project      = {OperationsForAutonomy}
}

@inproceedings{chien_nfm_2022,
	title        = {Formal Methods for Trusted Space Autonomy, Boon or Bane?},
	author       = {Steve Chien},
	year         = 2022,
	month        = {May},
	booktitle    = {NASA Formal Methods Symposium},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/chien-nfm-2022.pdf},
	clearance    = {CL\#22-1670    URS307382}
}

@incollection{grande_book_2022,
	title        = {Chapter 5: Enabling technologies for planetary exploration},
	author       = {Grande, Manuel and Guo, Linli and Blanc, Michel and Makaya, Advenit and Asmar, Sami and Atkinson, David and Bourdon, Anne and Chabert, Pascal and Chien, Steve and Day, John and Fair\'{e}n, Alberto G. and Freeman, Anthony and Genova, Antonio and Herique, Alain and Kofman, Wlodek and Lazio, Joseph and Mousis, Olivier and Ori, Gian Gabriele and Parro, Victor and Preston, Robert and Rodriguez-Manfredi, Jose A and Sterken, Veerle and Stephenson, Keith and Vander Hook, Joshua and Waite, J. Hunter and Zine, Sonia},
	year         = 2022,
	booktitle    = {Planetary Exploration Horizon 2061 – A Long Term Perspective for Planetary Exploration},
	publisher    = {Elsevier},
	chapter      = 5,
	editor       = {Michel Blanc}
}

@inproceedings{marchetti-psida_2022,
	title        = {In-situ Science Data Analysis and Curation for the Europa Lander Mission Concept},
	author       = {Yuliya Marchetti and Caleb Wagner and Philip Twu and Marissa Cameron and Glenn Reeves and Grace Tan-Wang and Steve Chien and Ken Hurst and Rebecca Castano and Kiri Wagstaff},
	year         = 2022,
	month        = {June},
	booktitle    = {Planetary Science, Informatics and Data Analytics Conference, 2022},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/Marchetti-PSIDAC-2022.pdf},
	clearance    = {URS307209 CL\#22-1631},
	project      = {europa-lander}
}

@inproceedings{hook_aas_trajopt_2022,
	title        = {Low Thrust Trajectory Optimization for the Solar System Pony Express},
	author       = {Pascarella, Alex and Woollands, Robyn and Pellegrini, Etienne and Sanchez-Net, Marc and Vander Hook, Joshua},
	year         = 2022,
	booktitle    = {Proceedings of the AAS GNC Conference},
	publisher    = {AIAA},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/AAS-22-015-Paper.pdf},
	clearance    = {CL\#21-4128 URS302572},
	project      = {NIAC-solar-system-pony-express}
}

@inproceedings{park-kdd2022,
	title        = {Temporal Multimodal Multivariate Learning},
	author       = {Hyoshin Park and Justice Darko and Niharika Deshpande and Venktesh Pandey and Hui Su and Masahiro Ono and Dedrick Barkley and Larkin Folsom and Derek Posselt and Steve Chien},
	year         = 2022,
	month        = {August},
	booktitle    = {Proceedings SIGKDD Conference On Knowledge Discovery And Data Mining},
	address      = {Washington, DC, USA},
	url          = {https://dl.acm.org/doi/10.1145/3534678.3539159},
	clearance    = {},
	project      = {}
}

@inproceedings{parjan_distributed_constellations_optlearnmas_2022,
	title        = {Distributed Observation Allocation for a Large-Scale Constellation},
	author       = {Parjan, S. and Chien, S. and Harrod, R.},
	year         = 2022,
	month        = {May},
	booktitle    = {The 13th Workshop on Optimization and Learning in Multiagent Systems (OptLearnMAS-22)},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/Parjan-DistributedConstellations-OptLearnMAS-2022.pdf},
	clearance    = {URS307906  CL\#22-2175},
	project      = {constellations}
}

@inproceedings{vaquero-et-al-KEPS2022,
	title        = {A Knowledge Engineering Framework for Mission Operations of Increasingly Autonomous Spacecraft},
	author       = {Tiago S. Vaquero and Federico Rossi and Rebecca Castano and Ashkan Jasour and Ellen van Wyk and Nihal Dhamani and Anthon Barrett and Bennett Huffman and Marijke Jorritsma},
	year         = 2022,
	month        = {June},
	booktitle    = {Workshop on Knowledge Engineering for Planning and scheduling (KEPS), International Conference on Automated Planning and Scheduling (ICAPS)},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/vaquero-et-al-KEPS2022.pdf},
	clearance    = {CL\#22-2269 URS307552},
	project      = {OperationsForAutonomy}
}

@inproceedings{kaufmann-et-al-SPARK2022,
	title        = {Copiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface},
	author       = {Marcel Kaufmann and Robert Trybula and Ryan Stonebraker and Michael Milano and Correa and Tiago S. Vaquero and Kyohei Otsu and Ali-Akbar Agha-Mohammadi and Giovanni Beltrame},
	year         = 2022,
	month        = {June},
	booktitle    = {Workshop on Scheduling and Planning Applications (SPARK), International Conference on Automated Planning and Scheduling (ICAPS)},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/kaufmann-et-al-SPARK2022.pdf},
	clearance    = {CL\#22-2725 URS308625},
	project      = {subt}
}

@inproceedings{dhamani-et-al-SPARK2022,
	title        = {Scheduling Within a Demand Access Paradigm for NASA's Deep Space Network},
	author       = {Nihal Dhamani and Mark Johnston and Girly Lucena},
	year         = 2022,
	month        = {June},
	booktitle    = {Workshop on Scheduling and Planning Applications (SPARK), International Conference on Automated Planning and Scheduling (ICAPS)},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/dhamani-et-al-SPARK2022.pdf},
	clearance    = {CL\#22-2742 URS307478},
	project      = {dsn,SSS}
}

@inproceedings{rossi2021stochastic,
  title={Stochastic guidance of buoyancy controlled vehicles under ice shelves using ocean currents},
  author={Rossi, Federico and Branch, Andrew and Schodlok, Michael P and Stanton, Timothy and Fenty, Ian G and Vander Hook, Joshua and Clark, Evan B},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={8657--8664},
  year={2021},
  month={September},
  project={icenode},
  organization={IEEE},
  url = {https://ieeexplore.ieee.org/document/9635987}
}

@article{maillard_coverage_jais_2021,
	title        = {Planning the Coverage of Planets under Geometrical Constraints},
	author       = {A. Maillard and S. A. Chien and C. Wells},
	year         = 2021,
	journal      = {Journal of Aerospace Information Systems},
	publisher    = {AIAA},
	volume       = {18:5},
	pages        = {289--306},
	url          = {https://doi.org/10.2514/1.I010896},
	clearance    = {CL\#21-0687 URS293692},
	project      = {clasp}
}

@article{agrawal_switch_groups_jais_2021,
	title        = {Enabling Limited Resource-Bounded Disjunction in Scheduling},
	author       = {J. Agrawal and W. Chi and S. A. Chien and G. Rabideau and S. Kuhn and D. Gaines and T. Vaquero and S. Bhaskaran},
	year         = 2021,
	journal      = {Journal of Aerospace Information Systems},
	publisher    = {AIAA},
	volume       = {18:6},
	pages        = {322--332},
	url          = {https://doi.org/10.2514/1.I010908},
	clearance    = {CL\#21-0352       URS294594},
	project      = {m2020}
}

@article{chien_rosetta_aspen_jais_2021,
	title        = {Activity-based Scheduling of Science Campaigns for the Rosetta Orbiter},
	author       = {S. A. Chien and G. Rabideau and D. Q. Tran and M. Troesch and F. Nespoli and M. Perez-Ayucar and M. Costa-Sitja and C. Vallat and B. Geiger and F. Vallejo and R. Andres and N. Altobelli and M. Kueppers},
	year         = 2021,
	journal      = {Journal of Aerospace Information Systems},
	publisher    = {AIAA},
	volume       = {18:10},
	pages        = {711--727},
	url          = {https://doi.org/10.2514/1.I010899},
	clearance    = {CL\#21-1333 URS294574},
	project      = {rosetta aspen}
}

@article{saint_guillain_et_al_JAIR21,
	title        = {Probablistic Temporal Networks with Ordinary Distributions: Theory, Robustness and Expected Utility},
	author       = {Saint-Guillain, M. and Vaquero, T. S. and Chien, S. and Agrawal, J. and Abrahams, J.},
	year         = 2021,
	journal      = {Journal of Artificial Intelligence Research},
	publisher    = {AI Access Foundation, Inc},
	volume       = 17,
	pages        = {1091--1136},
	url          = {https://doi.org/10.1613/jair.1.13019},
	clearance    = {CL\#21-3895},
	project      = {m2020}
}

@article{agrawal_flexible_robots_2021,
	title        = {Analyzing the Effectiveness of Rescheduling and Flexible Execution Methods to Address Uncertainty in Execution Duration for a Planetary Rover},
	author       = {J. Agrawal and W. Chi and S. A. Chien and G. Rabideau and D. Gaines and S. Kuhn},
	year         = 2021,
	journal      = {Robotics and Autonomous Systems},
	publisher    = {Elsevier},
	volume       = {140 (2021) 103758},
	url          = {https://doi.org/10.1016/j.robot.2021.103758},
	clearance    = {CL\#21-0785 URS298554},
	project      = {m2020}
}

@inproceedings{fesq_asteria_ieee-aero_2021,
	title        = {Results from the ASTERIA CubeSat Extended Mission Experiments},
	author       = {Fesq, Lorraine and Beauchamp, Patricia and Altenbuchner, Cornelia and Bocchino, Rob and Donner, Amanda and Feather, Martin and Hughes, Kyle and Kennedy, Brian and Mackey, Ryan and Mirza, Faiz and others},
	year         = 2021,
	booktitle    = {2021 IEEE Aerospace Conference (50100)},
	url          = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=9438402},
	organization = {IEEE},
	project      = {asteria}
}

@inproceedings{horst-etal-AERO2021,
	title        = {NASA's Surface Deformation and Change Mission Study},
	author       = {Horst, Stephen and Chrone, Jonathan and Deacon, Shaun and Le, Charles and Maillard, Adrien and Molthan, Andrew and Nguyen, Anh and Osmanoglu, Batuhan and Oveisgharan, Shadi and Perrine, Martin and Shah, Rashmi and Tymofyeyeva, Ekaterina and Wells, Christopher and Zufall, Adam and Rosen, Paul A.},
	year         = 2021,
	booktitle    = {2021 IEEE Aerospace Conference},
	pages        = {1--19},
	doi          = {10.1109/AERO50100.2021.9438290},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/horst-etal-AERO2021.pdf},
	clearance    = {CL\#21-0195    URS296108},
	project      = {clasp, sdc}
}

@inproceedings{kaufmann2021copilotIEEE,
	title        = {Copilot MIKE: An Autonomous Assistant for Multi-Robot Operations in Cave Exploration},
	author       = {Kaufmann, Marcel and Vaquero, Tiago Stegun and Correa, Gustavo J. and Otsu, Kyohei and Ginting, Muhammad F. and Beltrame, Giovanni and Agha-mohammadi, A.},
	year         = 2021,
	booktitle    = {2021 IEEE Aerospace Conference},
	volume       = {},
	number       = {},
	pages        = {1--9},
	doi          = {},
	url          = {https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9438530},
	clearance    = {},
	organization = {IEEE},
	project      = {CaveRovers}
}

@inproceedings{branch_ocean_worlds_fsw2021,
	title        = {Onboard Autonomy Requirements for an Ocean Worlds Submersible Mission},
	author       = {Branch, A. and Mason, J. and Chien, S. and Hobson, B. and Raanan, B. Y. and McMahon, J. and German, C. R. and Xu, G. and Jakuba, M. V.},
	year         = 2021,
	month        = {February},
	booktitle    = {Flight Software Workshop (FSW 2021)},
	clearance    = {URS298199 CL\#21-0517},
	project      = {ice\_covered\_oceans}
}

@inproceedings{wong_onboard_planner_fsw2021,
	title        = {Mars 2020 Onboard Planner: Controlling the Power},
	author       = {Wong, V.},
	year         = 2021,
	month        = {February},
	booktitle    = {Flight Software Workshop (FSW 2021)},
	clearance    = {URS298276 CL\#21-0564},
	project      = {mars\_2020}
}

@inproceedings{clark-icenode-mitoceans-2021,
	title        = {IceNode: a Buoyant Vehicle for Acquiring Well-Distributed, Long-Duration Melt Rate Measurements under Ice Shelves},
	author       = {Clark, E. B. and Branch, A. and Castano, R. and Fenty, I. and Gebara, C. and Kourchians, A. and Limonadi, D. and Madhok, G. and Nguyen, K. and McGarey, P. and Mechentel, F. and Okamoto, T. and Rignot, E. and Rossi, F. and Santos, B. and Schachter, J. and Schodlok, M. and Schoelen, D. and Stanton, T. and Zapien, X.},
	year         = 2021,
	booktitle    = {IEEE/MIT Oceans},
	location     = {San Diego, CA, USA},
	url          = {},
	clearance    = {},
	project      = {icenode}
}

@inproceedings{schoelen-icenode-mitoceans-2021,
	title        = {System Analysis and Generative Design for IceNode, a Buoyant Vehicle for Measuring Melt Rate under Ice Shelves},
	author       = {Schoelen, D. and Clark, E. B. and Mechentel, F. and Gebara, C.},
	year         = 2021,
	booktitle    = {IEEE/MIT Oceans},
	location     = {San Diego, CA, USA},
	url          = {},
	clearance    = {},
	project      = {icenode}
}

@inproceedings{saint_guillain_et_at_intex21,
	title        = {Lila: Optimal Dispatching in Probabilistic Temporal Networks using Monte Carlo Tree Search},
	author       = {Saint-Guillain, M. and Vaquero, T. S. and Chien S.},
	year         = 2021,
	month        = {July},
	booktitle    = {International Conference on Automated Planning and Scheduling (ICAPS), Workshop on Integrated Planning, Acting, and Execution (IntEx)},
	url          = {https://ai.jpl.nasa.gov/public/papers/MSG-Lila-IWPSS2021-paper-15.pdf},
	clearance    = {CL\#21-3130},
	project      = {m2020}
}

@inproceedings{saint_guillain_et_at_keps21,
	title        = {Romie: A Domain-Independent Tool for Computer-Aided Robust Operations Management},
	author       = {Saint-Guillain, M. and Gibaszek, J. and Vaquero, T. S. and Chien S.},
	year         = 2021,
	month        = {July},
	booktitle    = {International Conference on Automated Planning and Scheduling (ICAPS), Workshop on Knowledge Engineering for Planning and Scheduling (KEPS)},
	clearance    = {CL\#21-3108},
	project      = {m2020}
}

@inproceedings{bosch_smices_igars2021,
	title        = {Developing Radiometer and Radar synergies using Machine Learning},
	author       = {X. Bosch-Lluis and S. Chien and Q.Yue and J. Swope and P. Tavallali P. and M. Ogut and I. Ramos and P. Kangaslahti and W. Deal and C. Cooke},
	year         = 2021,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium},
	clearance    = {URS298184 CL\#21-0864},
	project      = {smices}
}

@inproceedings{dunkel_movidius_iss_2021,
	title        = {Benchmarking Machine Learning on The Myriad X Processor Onboard the ISS},
	author       = {E. Dunkel and J. L. Espinosa-Aranda and J. Romero-Canas and L. Buckley and  and Z. Towfic  and F. Mirza and J. Swope and D. Russell and J. Sauvaeau and D. Sheldon and S. Chien and M. Fernandez and C. Knox and K. Wagstaff and S. Lu and M. Denbina and D. Atha and M. Swan and M. Ono},
	year         = 2021,
	month        = {August},
	booktitle    = {International Space Station Research and Development Conference},
	url          = {https://ai.jpl.nasa.gov/public/papers/ISS-RD-2021-Movidius.pptx},
	clearance    = {CL\#21-3258 URS301550},
	project      = {cpu-iss}
}

@inproceedings{mirza_snapdragon_iss_2021,
	title        = {Flight Validating Artificial Intelligence Software on The Qualcomm Snapdragon Processor Onboard the ISS},
	author       = {F. Mirza and J. Swope and E. Dunkel and Z. Towfic and D. Russell and J. Sauvageau and D. Sheldon and S. Chien and M. Fernandez and C. Knox},
	year         = 2021,
	month        = {August},
	booktitle    = {International Space Station Research and Development Conference},
	url          = {https://ai.jpl.nasa.gov/public/papers/ISS-RD-2021-Snapdragon.pdf},
	clearance    = {CL\#21-3550 URS301783},
	project      = {cpu-iss}
}

@inproceedings{basich_europa_lander_mexec_iwpss21,
	title        = {A Sampling-Based Optimization Approach to Handling Environmental Uncertainty for a Planetary Lander},
	author       = {Basich, Connor and Wang, Daniel and Chien, Steve and Zilberstein, Shlomo},
	year         = 2021,
	month        = {July},
	booktitle    = {International Workshop on Planning \& Scheduling for Space (IWPSS)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Basich-IWPSS2021-paper-3.pdf},
	note         = {Also presented at Also appears at the International Conference on Automated Planning and Scheduling (ICAPS) Workshop on Planning and Robotics (PlanRob).},
	clearance    = {CL\#21-3262 URS301465},
	project      = {europa-lander mexec}
}

@inproceedings{boerkel2021_iwpss21,
	title        = {An Efficient Approach for Scheduling Imaging Tasks Across a Fleet of Satellites},
	author       = {Boerkoel, James and Mason, James and Wang, Daniel and Chien, Steve and Maillard, Adrien},
	year         = 2021,
	month        = {July},
	booktitle    = {International Workshop on Planning \& Scheduling for Space (IWPSS)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Boerkoel-IWPSS2021-paper-23.pdf},
	clearance    = {CL\#21-3023 URS300536},
	project      = {nos}
}

@inproceedings{branch_federated_scheduling_2021,
	title        = {Federated Scheduling of Model-Driven Observations for Earth Science},
	author       = {Branch, A. and Chien, S. and Marchetti, Y. and Su, H. and Wu, L. and Montgomery, J. and Johnson, M. and Smith, B. and Mandrake, L. and Tavallali, P.},
	year         = 2021,
	month        = {July},
	booktitle    = {International Workshop on Planning \& Scheduling for Space (IWPSS)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Branch-IWPSS2021-paper-12.pdf},
	clearance    = {URS300252 CL\#21-2169},
	project      = {poise}
}

@inproceedings{dhamani_johnston_lucena_demandaccess2021,
	title        = {A Demand Access Paradigm for NASA's Deep Space Network},
	author       = {Dhamani, N. and Johnston, M. and Lucena, G.},
	year         = 2021,
	month        = {July},
	booktitle    = {International Workshop on Planning \& Scheduling for Space (IWPSS)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Dhamani-IWPSS2021-paper-18.pdf},
	clearance    = {URS301314 CL\#21-3073},
	project      = {SSS}
}

@inproceedings{davis2021_iwpss21,
	title        = {Utilizing Schedule Constraints to Improve Automated Scheduling in NASA's Deep Space Network},
	author       = {Evan Davis and Nihal Dhamani and Martina Troesch and Mark D. Johnston},
	year         = 2021,
	month        = {July},
	booktitle    = {International Workshop on Planning \& Scheduling for Space (IWPSS)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Davis-IWPSS2021-paper-21.pdf},
	clearance    = {CL\#21-3316 URS300393},
	project      = {SSS}
}

@inproceedings{hasnain_agile_iwpss21,
	title        = {Agile Spacecraft Imaging Algorithm Comparison for Earth Science},
	author       = {Hasnain, Zaki and Mason, James and Swope, Jason and Vander Hook, Joshua, and Chien, Steve},
	year         = 2021,
	month        = {July},
	booktitle    = {International Workshop on Planning \& Scheduling for Space (IWPSS)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Hasnain-IWPSS2021-paper-13.pdf},
	clearance    = {CL\#21-3329 URS300330},
	project      = {dt}
}

@inproceedings{swope_smices_iwpss_2021,
	title        = {Using Intelligent Targeting to increase the science return of a Smart Ice Storm Hunting Radar},
	author       = {Jason Swope and Steve Chien and Xavier Bosch-Lluis and Qing Yue and Peyman Tavallali and Mehmet Ogut and Isaac Ramos and Pekka Kangaslahti and William Deal and Caitlyn Cooke},
	year         = 2021,
	month        = {July},
	booktitle    = {International Workshop on Planning \& Scheduling for Space (IWPSS)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Swope-SMICES-targeting-IWPSS-2021.pdf},
	clearance    = {CL\#21-3037 URS300526},
	project      = {SMICES, dt}
}

@inproceedings{mason_nos_iwpss21,
	title        = {Automated Scheduling of Federated Observations in the NOS Testbed},
	author       = {Mason, James and Chien, Steve},
	year         = 2021,
	month        = {July},
	booktitle    = {International Workshop on Planning \& Scheduling for Space (IWPSS)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Mason-IWPSS2021-paper-24.pdf},
	clearance    = {CL\#21-3343 URS300538},
	project      = {nos}
}

@inproceedings{snapdragon_iwpss_2021,
	title        = {Benchmarking Planning Applications on the Qualcomm Snapdragon},
	author       = {Mirza, F. and Swope, J. and Chien, S},
	year         = 2021,
	month        = {July},
	booktitle    = {International Workshop on Planning \& Scheduling for Space (IWPSS)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Mirza-IWPSS2021-paper-17.pdf},
	clearance    = {CL\#21-3245},
	project      = {CPU-iss}
}

@inproceedings{wang_europa_lander_mexec_iwpss21,
	title        = {Analyzing the Efficacy of Flexible Execution, Replanning, and Plan Optimization for a Planetary Lander},
	author       = {Wang, Daniel and Russino, Joseph A. and Basich, Connor and Chien, Steve},
	year         = 2021,
	month        = {July},
	booktitle    = {International Workshop on Planning \& Scheduling for Space (IWPSS)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Wang-IWPSS2021-paper-6.pdf},
	note         = {Also presented at the International Conference on Automated Planning and Scheduling (ICAPS), Workshop on Integrated Planning, Acting, and Execution (IntEx).},
	clearance    = {CL\#21-3123 URS300175},
	project      = {europa-lander mexec}
}

@inproceedings{m2020_iwpss_2021,
	title        = {Ground and Onboard Automated Scheduling for the Mars 2020 Rover Mission},
	author       = {Yelamanchili, A. and Rabideau, G. and Agrawal, J. and Wong, V. and Gaines, D. and Chien, S. and Fosse, E. and Biehl, J. and Kuhn, S. and Connell, A. and Hazlerig, J. and Ip, I. and Guduri, U. and Maxwell, K. and Steadman, K. and Towey, S.},
	year         = 2021,
	month        = {July},
	booktitle    = {International Workshop on Planning \& Scheduling for Space (IWPSS)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Yelamanchili-IWPSS2021-paper-16.pdf},
	clearance    = {URS300328 CL\#21-3010},
	project      = {m2020}
}

@inproceedings{maillard_ammos_keps21,
	title        = {Sailing Towards an Expressive Scheduling Language for Europa Clipper},
	author       = {Maillard, A. and Jorritsma,  M. and Schaffer S.},
	year         = 2021,
	month        = {July},
	booktitle    = {Knowledge Engineering for Planning and Scheduling (KEPS), International Conference on Automated Planning and Scheduling (ICAPS KEPS)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Maillard-KEPS2021-paper-22.pdf},
	clearance    = {URS CL\#21-3016},
	project      = {aerie}
}

@inproceedings{castano-et-al-OPAG2021,
	title        = {Operations for Autonomous Spacecraft: A Neptune Tour Case Study},
	author       = {R. Castano and T. Vaquero and V. Verma and F. Rossi and  D. Allard and R. Amini, A. Barrett and  J. Castillo-Rogez and  M. Choukroun and A. Dadaian and N. Dhamani and R. Francis and R. Hewitt and M. Hofstadter and M. Ingham and C. Sorice and E. Van Wyk and S. Chien},
	year         = 2021,
	month        = {March},
	booktitle    = {Outer Planets Assessment Group (OPAG)},
	publisher    = {USRA},
	url          = {https://ai.jpl.nasa.gov/public/documents/papers/castano-et-al-OPAG2021.pdf},
	clearance    = {CL\#21-3484  URS301897},
	project      = {OperationsForAutonomy}
}

@inproceedings{poise-ams-2021,
	title        = {Adaptive Model-driven Observations for Earth Sciences},
	author       = {Tavallali, P. and Chien, S. and Mandrake, L. and Marchetti, Y. and Su, H. and Wu, L. and Smith, B. and Branch, A. and Mason, J. and Swope, J.},
	year         = 2021,
	booktitle    = {Proceedings of the 101st American Meteorological Society Annual Meeting},
	location     = {Virtual},
	publisher    = {American Meteorological Society},
	address      = {Washington, DC, USA},
	url          = {https://ams.confex.com/ams/101ANNUAL/meetingapp.cgi/Paper/381883},
	note         = {For full paper see i-SAIRAS 2020},
	clearance    = {URS\# CL\#},
	project      = {poise}
}

@inproceedings{staehle_smallsat_COSPAR2021,
	title        = {Solar-powered outer Solar System SmallSat(OS4) architecture and technologies},
	author       = {R. Staehle and J. Puig-Suari and K. Crowley and A. Babuscia and J. Bellardo and N. Bonafede and N. Chahat and S. Chien and C. Cochrane and M. Desai and C. Duncan and M. Fernandez and H. Garrett and C. Gillespie and M. Gordon and C. Kraver and D. Landau and D. Leon and P. Liewer and L. Martos-Repath and P. Mouroulis and N. Murphy, and S. Retzlaff and A. Tang and J. Thangavelautham},
	year         = 2021,
	booktitle    = {Proceedings of the 43rd Committee on Space Research (COSPAR) Assembly},
	location     = {Sydney, Australia},
	clearance    = {CL\#20-4599 URS295602}
}

@inproceedings{el-autonomy-agu-2021,
	title        = {How Mission Autonomy can enable a Europa Lander Mission},
	author       = {G. Tan-Wang and G. Reeves and B. Kennedy and S. Chien and S. Tepsuporn and P. Backes and J. Bowkett},
	year         = 2021,
	booktitle    = {Proceedings of the Fall Meeting of the American Geophysical Union},
	location     = {New Orleans, LA, USA},
	publisher    = {American Geophysical Union},
	address      = {Washington, DC, USA},
	url          = {https://agu.confex.com/agu/fm21/meetingapp.cgi/Paper/914284},
	note         = {},
	clearance    = {URS293763 CL\#20-5907},
	project      = {europa-lander}
}

@inproceedings{smices-agu-2021,
	title        = {Using a Digital Twin Weather Research and Forecasting (WRF) Model for Machine Learning of Deep Convective Ice Storms},
	author       = {S. Chien and J. Swope and Q. Yue and J. Lluis-Bosch and W. Deal},
	year         = 2021,
	booktitle    = {Proceedings of the Fall Meeting of the American Geophysical Union},
	location     = {New Orleans, LA, USA},
	publisher    = {American Geophysical Union},
	address      = {Washington, DC, USA},
	url          = {https://agu.confex.com/agu/fm21/meetingapp.cgi/Paper/804752},
	clearance    = {URS293763 CL\#20-5907},
	project      = {smices}
}

@inproceedings{yelamanchili_oco3_spaceops2021,
	title        = {Scheduling and Operations of the Orbiting Carbon Observatory-3 Mission},
	author       = {A. Yelamanchili and C. Wells and S. Chien and A. Eldering and R. Pavlickl and C. Cheng and R. Schneider and A. Moy},
	year         = 2021,
	month        = {May},
	booktitle    = {Proceedings Space Operations 2021},
	url          = {https://spaceops.iafastro.directory/a/proceedings/SpaceOps-2021/SpaceOps-2021/6/manuscripts/SpaceOps-2021,6,x1382.pdf},
	clearance    = {CL\#21-1472 URS299286},
	project      = {oco3, clasp}
}

@inproceedings{yelamanchili_emit_spaceops2021,
	title        = {Using Automated Scheduling for Mission Design: A Case Study for EMIT},
	author       = {A. Yelamanchili and C. Wells and S. Chien and J. Russino and R. Green and B. Oaida and D. R. Thompson},
	year         = 2021,
	month        = {May},
	booktitle    = {Proceedings Space Operations 2021},
	url          = {https://spaceops.iafastro.directory/a/proceedings/SpaceOps-2021/SpaceOps-2021/13/manuscripts/SpaceOps-2021,13,x1383.pdf},
	clearance    = {CL\#21-1471       URS299285},
	project      = {emit, clasp}
}

@inproceedings{yelamanchili_m2020_spaceops2021,
	title        = {Ground-based Automated Scheduling for Operations of the Mars 2020 Rover Mission},
	author       = {A. Yelamanchili and J. Agrawal and S. Chien and J. Biehl and A. Connell and U. Guduri and J. Hazelrig and I. Ip and K. Maxwell and K. Steadman and S. Towey},
	year         = 2021,
	month        = {May},
	booktitle    = {Proceedings Space Operations 2021},
	url          = {https://spaceops.iafastro.directory/a/proceedings/SpaceOps-2021/SpaceOps-2021/6/manuscripts/SpaceOps-2021,6,x1385.pdf},
	clearance    = {CL\#21-1470 URS299277},
	project      = {m2020}
}

@inproceedings{yelamanchili_ecostress_spaceops2021,
	title        = {Scheduling and Operations of the ECOSTRESS Mission},
	author       = {A. Yelamanchili and S. Chien and K. Cawse-Nicholson and D. Freeborn},
	year         = 2021,
	month        = {May},
	booktitle    = {Proceedings Space Operations 2021},
	url          = {https://spaceops.iafastro.directory/a/proceedings/SpaceOps-2021/SpaceOps-2021/6/manuscripts/SpaceOps-2021,6,x1381.pdf},
	clearance    = {CL\#21-1473       URS299287},
	project      = {ecostress, clasp}
}

@article{castillo2020smallsats,
  	title={Smallsats for Small Body Exploration and Technology Infusion},
  	author={Castillo-Rogez, Julie and Donitz, Benjamin and Nesnas, Issa and Swindle, Timothy and O'Rourke, Joseph and Villarreal, M and Freeman, Anthony and Hardgrove, Craig and Rivkin, AS and Chien, Steve},
  	journal={White paper submitted to the Planetary Science and Astrobiology Decadal Survey},
  	year={2020},
	url = {https://assets.pubpub.org/y6i8l2jl/01617915943444.pdf}
}

@article{aguzzi_astrbio2020_exoocean,
	title        = {Exo-Ocean Exploration with Deep-Sea Sensor and Platform Technologies},
	author       = {J. Aguzzi and M.M. Flexas and S. Fl\"{o}gel and C. Lo Iacono and M. Tangherlini and C. Costa and S. Marini and N. Bahamon and S. Martini and E. Fanelli and R. Danovaro and S. Stefanni and L. Thomsen and G. Riccobene and M. Hildebrandt and I. Masmitja and J. Del Rio and E. Clark and A. Branch and P. Weiss and A.T. Klesh and M.P. Schodlok},
	year         = 2020,
	journal      = {Astrobiology},
	url          = {https://doi.org/10.1089/ast.2019.2129},
	abstract     = {One of Saturn's largest moons, Enceladus, possesses a vast extraterrestrial ocean (i.e., exo-ocean) that is increasingly becoming the hotspot of future research initiatives dedicated to the exploration of putative life. Here, a new bio-exploration concept design for Enceladus' exo-ocean is proposed, focusing on the potential presence of organisms across a wide range of sizes (i.e., from uni- to multicellular and animal-like), according to state-of-the-art sensor and robotic platform technologies used in terrestrial deep-sea research. In particular, we focus on combined direct and indirect life-detection capabilities, based on optoacoustic imaging and passive acoustics, as well as molecular approaches. Such biologically oriented sampling can be accompanied by concomitant geochemical and oceanographic measurements to provide data relevant to exo-ocean exploration and understanding. Finally, we describe how this multidisciplinary monitoring approach is currently enabled in terrestrial oceans through cabled (fixed) observatories and their related mobile multiparametric platforms (i.e., Autonomous Underwater and Remotely Operated Vehicles, as well as crawlers, rovers, and biomimetic robots) and how their modified design can be used for exo-ocean exploration.}
}

One of Saturn's largest moons, Enceladus, possesses a vast extraterrestrial ocean (i.e., exo-ocean) that is increasingly becoming the hotspot of future research initiatives dedicated to the exploration of putative life. Here, a new bio-exploration concept design for Enceladus' exo-ocean is proposed, focusing on the potential presence of organisms across a wide range of sizes (i.e., from uni- to multicellular and animal-like), according to state-of-the-art sensor and robotic platform technologies used in terrestrial deep-sea research. In particular, we focus on combined direct and indirect life-detection capabilities, based on optoacoustic imaging and passive acoustics, as well as molecular approaches. Such biologically oriented sampling can be accompanied by concomitant geochemical and oceanographic measurements to provide data relevant to exo-ocean exploration and understanding. Finally, we describe how this multidisciplinary monitoring approach is currently enabled in terrestrial oceans through cabled (fixed) observatories and their related mobile multiparametric platforms (i.e., Autonomous Underwater and Remotely Operated Vehicles, as well as crawlers, rovers, and biomimetic robots) and how their modified design can be used for exo-ocean exploration.

@article{sandford_cloud_amt_2020,
	title        = {Global Cloud Property Models for Real Time Triage Onboard Visible-Shortwave Infrared Spectrometers},
	author       = {M. W. Sandford and D. R. Thompson and R. O. Green and B. H. Kahn and R. Vitulli and S. A. Chien and A. Yelamanchili and W. Olson-Duvall},
	year         = 2020,
	journal      = {Atmospheric Measurement Techniques},
	publisher    = {European Geosciences Union},
	volume       = 13,
	pages        = {7047--7057},
	url          = {https://https://doi.org/10.5194/amt-13-7047-2020},
	clearance    = {CL\#20-5348       URS290204}
}

@article{staehle_smallsat_NIAC2020,
	title        = {Low-Cost SmallSats to Explore the Outer Solar System},
	author       = {R. Staehle and J. Puig-Suari and K. Crowley and A. Babuscia and J. Bellardo and N. Bonafede and N. Chahat and S. Chien and C. Cochrane and M. Desai and C. Duncan and M. Fernandez and H. Garrett and C. Gillespie and M. Gordon and C. Kraver and D. Landau and D. Leon and P. Liewer and L. Martos-Repath and P. Mouroulis and N. Murphy, and S. Retzlaff and A. Tang and J. Thangavelautham},
	year         = 2020,
	journal      = {Final Report, NASA Institute for Advanced Concepts(NIAC)},
	publisher    = {NASA},
	url          = {https://www.nasa.gov/sites/default/files/atoms/files/niac\%5F2019\%5Fphi\%5Fstaehle\%5Fos4\%5Ftagged.pdf},
	clearance    = {CL\#20-4241      URS293904}
}

@article{chien_jais2020_volcmonitoring,
	title        = {Automated Volcano Monitoring Using Multiple Space and Ground Sensors},
	author       = {Steve A. Chien and Ashley G. Davies and Joshua Doubleday and Daniel Q. Tran and David Mclaren and Wayne Chi and Adrien Maillard},
	year         = 2020,
	journal      = {Journal of Aerospace Information Systems (JAIS)},
	volume       = {17:4},
	pages        = {214--228},
	url          = {https://doi.org/10.2514/1.I010798},
	abstract     = {From 2004 to 2017, an effort was undertaken to integrate space-borne sensing and in situ sensing in an automated system to improve global volcano activity monitoring. This paper reviews a sensor web concept in which a number of volcano monitoring systems were linked together to more accurately monitor volcanic activity, and used this activity measurement to automatically task space assets to acquire further satellite imagery of the detected volcanic activity. This paper discusses the space and ground sensors and how they were linked together as triggers and responses. Over a 13-year period, more than 160,000 alerts coming from various sources lead to 9050 observations by NASA's Earth Observing-1 spacecraft--imaging about 218 volcanoes. This paper describes the science products automatically produced onboard the satellite and on the ground such as temperature maps and lava discharge volume estimates that are automatically delivered to subscribing users. To evaluate the effectiveness of an out-tasked volcano monitoring system, this study compares the hit rate of our tasked monitoring system to the systematic monitoring system MODVOLC.},
	project      = {sensorweb}
}

From 2004 to 2017, an effort was undertaken to integrate space-borne sensing and in situ sensing in an automated system to improve global volcano activity monitoring. This paper reviews a sensor web concept in which a number of volcano monitoring systems were linked together to more accurately monitor volcanic activity, and used this activity measurement to automatically task space assets to acquire further satellite imagery of the detected volcanic activity. This paper discusses the space and ground sensors and how they were linked together as triggers and responses. Over a 13-year period, more than 160,000 alerts coming from various sources lead to 9050 observations by NASA's Earth Observing-1 spacecraft–imaging about 218 volcanoes. This paper describes the science products automatically produced onboard the satellite and on the ground such as temperature maps and lava discharge volume estimates that are automatically delivered to subscribing users. To evaluate the effectiveness of an out-tasked volcano monitoring system, this study compares the hit rate of our tasked monitoring system to the systematic monitoring system MODVOLC.

@article{gaines2020jfr,
	title        = {Self-reliant rovers for increased mission productivity},
	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},
	year         = 2020,
	month        = {October},
	journal      = {Journal of Field Robotics},
	volume       = 37,
	number       = 7,
	pages        = {1171--1196},
	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.},
	keywords     = {planetary robotics, planning, position estimation, navigation, obstacle avoidance},
	project      = {srr}
}

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{staehle_smallsat_joss2020,
	title        = {A Solar-powered Outer Solar System SmallSat (OS4) Architecture Defined},
	author       = {R. Staehle and J. Puig-Suari and K. Crowley and A. Babuscia and J. Bellardo and N. Bonafede and N. Chahat and S. Chien and C. Cochrane and M. Desai and C. Duncan and M. Fernandez and H. Garrett and C. Gillespie and M. Gordon and C. Kraver and D. Landau and D. Leon and P. Liewer and L. Martos-Repath and P. Mouroulis and N. Murphy, and S. Retzlaff and A. Tang and J. Thangavelautham},
	year         = 2020,
	journal      = {Journal of Small Satellites (JOSS)(Letter)},
	publisher    = {adeepakpublishing.com},
	volume       = 9,
	number       = 3,
	pages        = {937--942},
	url          = {https://jossonline.com/wp-content/uploads/2020/10/Final-Staehle-LtE-A-Solar-powered-Outer-Solar-System-SmallSat-OS4-Architecture-Defined.pdf},
	clearance    = {CL\#20-4604 URS295270}
}

@article{TAYLOR2020112032,
	title        = {OCO-3 early mission operations and initial (vEarly) XCO2 and SIF retrievals},
	author       = {Thomas E. Taylor and Annmarie Eldering and Aronne Merrelli and Matth\"{a}us Kiel and Peter Somkuti and Cecilia Cheng and Robert Rosenberg and Brendan Fisher and David Crisp and Ralph Basilio and Matthew Bennett and Daniel Cervantes and Albert Chang and Lan Dang and Christian Frankenberg and Vance R. Haemmerle and Graziela R. Keller and Thomas Kurosu and Joshua L. Laughner and Richard Lee and Yuliya Marchetti and Robert R. Nelson and Christopher W. O'Dell and Gregory Osterman and Ryan Pavlick and Coleen Roehl and Robert Schneider and Gary Spiers and Cathy To and Christopher Wells and Paul O. Wennberg and Amruta Yelamanchili and Shanshan Yu},
	year         = 2020,
	journal      = {Remote Sensing of Environment},
	volume       = 251,
	pages        = 112032,
	doi          = {https://doi.org/10.1016/j.rse.2020.112032},
	issn         = {0034-4257},
	url          = {http://www.sciencedirect.com/science/article/pii/S0034425720304028},
	project      = {oco3}
}

@inproceedings{kaufmann2020copilotagu,
	title        = {One Operator to Rule Them All: Human-Robot Interaction for Real-World and Analog Subsurface Exploration},
	author       = {Marcel Kaufmann and Tiago Stegun Vaquero and Kyohei Otsu and Ali-akbar Agha-mohammadi},
	year         = 2020,
	booktitle    = {American Geophysical Union (AGU)},
	location     = {San Francisco, CA},
	url          = {https://ui.adsabs.harvard.edu/abs/2020AGUFMP057...08A/abstract},
	clearance    = {CL\#20-3611},
	project      = {CaveRovers}
}

@inproceedings{otsu-et-al-AeroConf2020,
	title        = {Supervised Autonomy for Communication-degraded Subterranean Exploration by a Robot Team},
	author       = {Kyohei Otsu and Scott Tepsuporn and Rohan Thakker and Tiago Vaquero and Jeffrey Edlund and William Walsh and Gregory Miles and Tristan Heywood and Michael Wolf and Ali Agha},
	year         = 2020,
	booktitle    = {IEEE Aerospace Conference},
	address      = {Montana, USA},
	abstract     = {The importance of autonomy in robotics is magnified when the robots need to be deployed and operated in areas that are too dangerous or not accessible for humans, ranging from disaster areas (to assist in emergency situations) to Mars exploration (to uncover the mystery of our neighboring planet). The DARPA Subterranean (SubT) Challenge presents a great opportunity and a formidable robotics challenge to foster such technological advancement for operations in extreme and underground environments. Robot teams are expected to rapidly map, navigate, and search underground environments including natural cave networks, tunnel systems, and urban underground infrastructure. Subterranean environments pose significant challenges for manned and unmanned operations due to limited situational awareness. In the first phase of the DARPA Subterranean Challenge (held in August 2019; targeting underground tunnels and mines), Team CoSTAR, led by NASA JPL, placed second among 11 teams across the world, accurately mapping several kilometers of two mine systems and localizing 17 target objects in the course of four one-hour missions. While the main goal of Team CoSTAR at the end of this three-year challenge (August 2021) is a fully autonomous robotic solution, this paper describes Team CoSTAR's results in the first phase of the challenge (August 2019), focusing on supervised autonomy of a multi-robot team under severe communication constraints. This paper also presents the design and initial results obtained from field test campaigns conducted in various tunnel-like environments, leading to the competition},
	project      = {CaveRovers, subt}
}

The importance of autonomy in robotics is magnified when the robots need to be deployed and operated in areas that are too dangerous or not accessible for humans, ranging from disaster areas (to assist in emergency situations) to Mars exploration (to uncover the mystery of our neighboring planet). The DARPA Subterranean (SubT) Challenge presents a great opportunity and a formidable robotics challenge to foster such technological advancement for operations in extreme and underground environments. Robot teams are expected to rapidly map, navigate, and search underground environments including natural cave networks, tunnel systems, and urban underground infrastructure. Subterranean environments pose significant challenges for manned and unmanned operations due to limited situational awareness. In the first phase of the DARPA Subterranean Challenge (held in August 2019; targeting underground tunnels and mines), Team CoSTAR, led by NASA JPL, placed second among 11 teams across the world, accurately mapping several kilometers of two mine systems and localizing 17 target objects in the course of four one-hour missions. While the main goal of Team CoSTAR at the end of this three-year challenge (August 2021) is a fully autonomous robotic solution, this paper describes Team CoSTAR's results in the first phase of the challenge (August 2019), focusing on supervised autonomy of a multi-robot team under severe communication constraints. This paper also presents the design and initial results obtained from field test campaigns conducted in various tunnel-like environments, leading to the competition

@inproceedings{chien_igarss_sensorweb_2020,
	title        = {Leveraging Space and Ground Assets in a Sensorweb for Scientific Monitoring: Early Results and Opportunities for the Future},
	author       = {S. Chien and J. Boerkoel and J. Mason and D. Wang and A. G. Davies and J. Mueting and V. Vittaldev and V. Shah and I. Zuleta},
	year         = 2020,
	month        = {September},
	booktitle    = {IEEE Geoscience and Remote Sensing Symposium (IGARSS)},
	url          = {https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9324049},
	clearance    = {CL\#20-2317},
	project      = {sensorweb}
}

@inproceedings{chi_icaps2020_wakesleep,
	title        = {Scheduling with Complex Consumptive Resources for a Planetary Rover},
	author       = {W. Chi and S.Chien and J. Agrawal},
	year         = 2020,
	month        = {October},
	booktitle    = {International Conference on Automated Planning and Scheduling (ICAPS 2020)},
	address      = {Nancy, France},
	url          = {https://ai.jpl.nasa.gov/public/papers/chi-icaps2020-wakesleep.pdf},
	abstract     = {Generating and scheduling activities is particularly challenging when considering both consumptive resources and complex resource interactions such as time-dependent resource usage. We present three methods of determining valid temporal placement intervals for an activity in a temporally grounded plan in the presence of such constraints. We introduce the Max Duration and Probe algorithms which are sound, but incomplete, and the Linear algorithm which is sound and complete for linear rate resource consumption. We apply these techniques to the problem of scheduling awake and asleep episodes for a planetary rover where the awake durations are affected by scheduled activities. We demonstrate how the Probe algorithm performs competitively with the Linear algorithm given an advantageous problem space and well-defined heuristics. We show that the Probe and Linear algorithms outperform the Max Duration algorithm empirically. We then present the runtime differences between the three algorithms. The Probe algorithm is currently base-lined for use in the onboard scheduler for NASA's next planetary rover, the Mars 2020 rover.},
	clearance    = {CL\#20-1031},
	project      = {m2020-scheduler}
}

Generating and scheduling activities is particularly challenging when considering both consumptive resources and complex resource interactions such as time-dependent resource usage. We present three methods of determining valid temporal placement intervals for an activity in a temporally grounded plan in the presence of such constraints. We introduce the Max Duration and Probe algorithms which are sound, but incomplete, and the Linear algorithm which is sound and complete for linear rate resource consumption. We apply these techniques to the problem of scheduling awake and asleep episodes for a planetary rover where the awake durations are affected by scheduled activities. We demonstrate how the Probe algorithm performs competitively with the Linear algorithm given an advantageous problem space and well-defined heuristics. We show that the Probe and Linear algorithms outperform the Max Duration algorithm empirically. We then present the runtime differences between the three algorithms. The Probe algorithm is currently base-lined for use in the onboard scheduler for NASA's next planetary rover, the Mars 2020 rover.

@inproceedings{subt-planrob-icaps2020,
	title        = {Planning and Optimization for Multi-Robot Planetary Cave Exploration under Intermittent Connectivity Constraints},
	author       = {Klaesson, F. and Nilsson, P. and Vaquero, T. and Tepsuporn, S. and  Ames, A. D. and Murray, R.},
	year         = 2020,
	month        = {October},
	booktitle    = {International Conference on Automated Planning and Scheduling (ICAPS) Workshop on Planning and Robotics (PlanRob)},
	url          = {https://ai.jpl.nasa.gov/public/papers/PlanRob-2020-Planning-and-Optimization-for-Multi-Robot-Planetary-Cave-Exploration.pdf},
	clearance    = {CL\#20-5119},
	project      = {CaveRovers, subt}
}

@inproceedings{iros2020pdra,
	title        = {The Pluggable Distributed Resource Allocator (PDRA): a Middleware for Distributed Computing in Mobile Robotic Networks},
	author       = {Rossi, Federico and Stegun Vaquero, Tiago and Sanchez-Net, Marc, and Saboia da Silva, Ma\"{A}\pm{}ra and Vander Hook, Joshua},
	year         = 2020,
	booktitle    = {International Conference on Intelligent Robots and Systems (IROS). Las Vegas, USA},
	project      = {mosaic}
}

@inproceedings{branch_chien_et_al_icra2020,
	title        = {Demonstration of Autonomous Nested Search for Local Maxima Using an Unmanned Underwater Vehicle},
	author       = {A. Branch and J. McMahon and G. Xu and M. V. Jakuba and C. R. German and S. Chien and J. C. Kinsey and A. D. Bowen and K. P. Hand and J. S. Seewald},
	year         = 2020,
	month        = {June},
	booktitle    = {International Conference on Robotics and Automation (ICRA 2020)},
	clearance    = {CL\#20-0861},
	project      = {ice\_covered\_oceans}
}

@inproceedings{saint-guillain-et-al-IJCAI2020,
	title        = {Robustness Computation of Dynamic Controllability in Probabilistic Temporal Networks with Ordinary Distributions},
	author       = {Michael Saint-Guillain and Tiago Stegun Vaquero and Jagriti Agrawal and Steve Chien},
	year         = 2020,
	booktitle    = {International Joint Conference on Artificial Intelligence (IJCAI)},
	address      = {Yokohama, Japan},
	abstract     = {Most existing works in Probabilistic Simple Temporal Networks (PSTNs) base their frameworks on well-defined probability distributions. This paper addresses on PSTN Dynamic Controllability (DC) robustness measure, i.e. the execution success probability of a network under dynamic control. We consider PSTNs where the probability distributions of the contingent edges are ordinary distributed (e.g. non-parametric, non-symmetric). We introduce the concepts of dispatching protocol (DP) as well as DP-robustness, the probability of success under a predefined dynamic policy. We propose a fixed-parameter pseudo-polynomial time algorithm to compute the exact DP-robustness of any PSTN under NextFirst protocol, and apply to various PSTN datasets, including the real case of planetary exploration in the context of the Mars 2020 rover, and propose an original structural analysis.},
	clearance    = {CL\#20-1880},
	project      = {m2020}
}

Most existing works in Probabilistic Simple Temporal Networks (PSTNs) base their frameworks on well-defined probability distributions. This paper addresses on PSTN Dynamic Controllability (DC) robustness measure, i.e. the execution success probability of a network under dynamic control. We consider PSTNs where the probability distributions of the contingent edges are ordinary distributed (e.g. non-parametric, non-symmetric). We introduce the concepts of dispatching protocol (DP) as well as DP-robustness, the probability of success under a predefined dynamic policy. We propose a fixed-parameter pseudo-polynomial time algorithm to compute the exact DP-robustness of any PSTN under NextFirst protocol, and apply to various PSTN datasets, including the real case of planetary exploration in the context of the Mars 2020 rover, and propose an original structural analysis.

@inproceedings{staehle_interplanetary_smallsat_2020,
	title        = {SmallSats Beyond Saturn Without Radioisotopes: A Preliminary Assessment},
	author       = {R. Staehle and J. Puig-Suari and K. Crowley and A. Babuscia and J. Bellardo and N. Bonafede and N. Chahat and S. Chien and C. Cochrane and M. Desai and C. Duncan and M. Fernandez and H. Garrett and C. Gillespie and M. Gordon and C. Kraver and D. Landau and D. Leon and P. Liewer and L. Martos-Repath and P. Mouroulis and N. Murphy, and S. Retzlaff and A. Tang and J. Thangavelautham},
	year         = 2020,
	month        = {May},
	booktitle    = {Interplanetary Small Satellite Conference},
	clearance    = {CL\#20-2013},
	project      = {}
}

@inproceedings{m2020-esa-claire-ecai2020,
	title        = {Onboard and Ground-based Automated Scheduling for the Mars 2020 Rover Mission},
	author       = {Gaines, D. and Chien, S. and Rabideau, G. and Wong, V., and Agrawal, J. and Chi, W. and Yelamanchili, A. and Towey, S. and Biehl, J. and Fosse, E. and Kuhn, S. and Connell, A. and Ip, I. and Hazelrig, J. and Guduri, U.},
	year         = 2020,
	booktitle    = {Proceedings of ESA-CLAIRE Workshop on Space and AI, European Conference on Artificial Intelligence},
	location     = {Santiago de Compostela, ES},
	publisher    = {European Space Agency},
	address      = {Noordwijk, NL},
	url          = {https://ai.jpl.nasa.gov/public/papers/EL-ESA-Claire-2020.pdf},
	clearance    = {URS294463},
	project      = {m2020}
}

@inproceedings{esto-nos-swb-fall-agu-2020,
	title        = {Space Ground Sensorwebs for Volcano Monitoring},
	author       = {Chien, S. and Boerkoel, J. and Mason, J. and Wang, D. and Davies, A.G. and Mueting, J. and Vittaldev, V. and Shah, V. and Zuleta, I.},
	year         = 2020,
	booktitle    = {Proceedings of the Fall Meeting of the American Geophysical Union},
	location     = {San Francisco, California, USA},
	publisher    = {American Geophysical Union},
	address      = {Washington, DC, USA},
	url          = {https://agu.confex.com/agu/fm20/meetingapp.cgi/Paper/709315},
	note         = {For full paper see i-SAIRAS 2020},
	clearance    = {URS293763 CL\#20-5907},
	project      = {sensorweb}
}

@inproceedings{poise-fall-agu-2020,
	title        = {Adaptive Model-driven Observation for Earth Science},
	author       = {Tavallali, P. and Chien, S. and Mandrake, L. and Marchetti, Y. and Su, H. and Wu, L. and Smith, B. and Branch, A. and Mason, J. and Swope, J.},
	year         = 2020,
	booktitle    = {Proceedings of the Fall Meeting of the American Geophysical Union},
	location     = {San Francisco, California, USA},
	publisher    = {American Geophysical Union},
	address      = {Washington, DC, USA},
	url          = {https://agu.confex.com/agu/fm20/meetingapp.cgi/Paper/709359},
	note         = {For full paper see i-SAIRAS 2020},
	clearance    = {URS293760 CL\#20-5908},
	project      = {poise}
}

@inproceedings{hook2020aeroconf,
	title        = {Nebulae: A Proposed Concept of Operation for Deep Space Computing Clouds},
	author       = {Vander Hook, Joshua and Castillo-Rogez, Julei and Doyle, Richard, and Stegun-Vaquero, Tiago and Hare, Trent M. and Kirk, Randolf L. and Bekker, Dmitriy and Cocoros, Alice and Fox, Valerie},
	year         = 2020,
	booktitle    = {Proceedings of the IEEE Aerospace Conference},
	address      = {Montana, USA},
	abstract     = {In this paper, we describe an ongoing multi-center study in using emplaced computational resources such as high- volume storage and fast processing to enable instruments to gather and store much more data than would normally be possible, even if it cannot be downlinked to earth in any reasonable time. The primary focus of the study is designing science pipelines for on-site summarization, archival for future downlink, and multi- sensor fusion. A secondary focus is on providing support for increasingly-autonomous systems, including mapping, planning, and multi-robot collaboration. Key to both of these concepts is treating the spacecraft not as an autonomous agent, but as an interactive batch processor, which allows us to avoid quantum leaps in machine intelligence required to realize the designs. Our goal is to discuss preliminary results and technical directions for the community, and identify promising new opportunities for multi-sensor-fusion with the help of planetary researchers.},
	project      = {mosaic}
}

In this paper, we describe an ongoing multi-center study in using emplaced computational resources such as high- volume storage and fast processing to enable instruments to gather and store much more data than would normally be possible, even if it cannot be downlinked to earth in any reasonable time. The primary focus of the study is designing science pipelines for on-site summarization, archival for future downlink, and multi- sensor fusion. A secondary focus is on providing support for increasingly-autonomous systems, including mapping, planning, and multi-robot collaboration. Key to both of these concepts is treating the spacecraft not as an autonomous agent, but as an interactive batch processor, which allows us to avoid quantum leaps in machine intelligence required to realize the designs. Our goal is to discuss preliminary results and technical directions for the community, and identify promising new opportunities for multi-sensor-fusion with the help of planetary researchers.

@inproceedings{esto-nos-swb-isairas2020,
	title        = {Space Ground Sensorwebs for Volcano Monitoring},
	author       = {Chien, S. and Boerkoel, J. and Mason, J. and Wang, D. and Davies, A.G. and Mueting, J. and Vittaldev, V. and Shah, V. and Zuleta, I.},
	year         = 2020,
	booktitle    = {Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation for Space},
	location     = {Pasadena, California, USA},
	publisher    = {European Space Agency},
	address      = {Noordwijk, NL},
	series       = {i-SAIRAS'2020},
	url          = {https://ai.jpl.nasa.gov/public/papers/ESTO-NOS-Sensorweb-i-SAIRAS2020-camera.pdf},
	clearance    = {URS294673 CL\#20-4119},
	project      = {sensorweb}
}

@inproceedings{m2020-obp-isairas2020,
	title        = {Onboard Automated Scheduling for the Mars 2020 Rover},
	author       = {Rabideau, G. and Wong, V. and Gaines, D. and Agrawal, J. and Chien, S. and Kuhn, S. and Fosse, E. and Biehl, J.},
	year         = 2020,
	booktitle    = {Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation for Space},
	location     = {Pasadena, California, USA},
	publisher    = {European Space Agency},
	address      = {Noordwijk, NL},
	series       = {i-SAIRAS'2020},
	url          = {https://ai.jpl.nasa.gov/public/papers/M2020-OBP-i-SAIRAS2020-camera.pdf},
	clearance    = {URS294463 CL\#20-3914},
	project      = {m2020}
}

@inproceedings{poise-isairas2020,
	title        = {Adaptive Model-driven Observation for Earth Science},
	author       = {Tavallali, P. and Chien, S. and Mandrake, L. and Marchetti, Y. and Su, H. and Wu, L. and Smith, B. and Branch, A. and Mason, J. and Swope, J.},
	year         = 2020,
	booktitle    = {Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation for Space},
	location     = {Pasadena, California, USA},
	publisher    = {European Space Agency},
	address      = {Noordwijk, NL},
	series       = {i-SAIRAS'2020},
	url          = {https://ai.jpl.nasa.gov/public/papers/POISE-i-SAIRAS2020-camera.pdf},
	clearance    = {URS294625 CL\#20-4044},
	project      = {poise}
}

@inproceedings{vaquero-brittleness-isairas2020,
	title        = {Constraint-based Brittleness Analysis of Task Networks for Planetary Rovers},
	author       = {Vaquero, T. S. and Chien, S. and Agrawal, J.},
	year         = 2020,
	booktitle    = {Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation for Space},
	location     = {Pasadena, California, USA},
	publisher    = {European Space Agency},
	address      = {Noordwijk, NL},
	series       = {i-SAIRAS'2020},
	url          = {https://ai.jpl.nasa.gov/public/papers/BRITTLENESS-i-SAIRAS2020-camera.pdf},
	clearance    = {URS294880 CL\#20-429},
	project      = {m2020}
}

@inproceedings{vaquero-subt-isairas2020,
	title        = {Traversability-aware Signal Coverage Planning for Communication Node Deployment In Planetary Cave Exploration},
	author       = {Vaquero, T. S. and Saboia da Silva, M. and Otsu, K. and Kaufmann, M. and Edlund, J. A. and Agha-mohammadi, A.},
	year         = 2020,
	booktitle    = {Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation for Space},
	location     = {Pasadena, California, USA},
	publisher    = {European Space Agency},
	address      = {Noordwijk, NL},
	series       = {i-SAIRAS'2020},
	url          = {https://ai.jpl.nasa.gov/public/papers/SUBT-i-SAIRAS2020-camera.pdf},
	clearance    = {URS294839 CL\#20-4175},
	project      = {CaveRovers, subt}
}

@inproceedings{m2020-ground-isairas2020,
	title        = {Ground-based Automated Scheduling for the Mars 2020 Rover},
	author       = {Yelamanchili, A. and Agrawal, J. and Chien, S. and Biehl, J. and Connell, A. and Guduri, U. and Hazelrig, J. and Ip, I. and Maxwell, K. and Steadman, K. and Towey, S.},
	year         = 2020,
	booktitle    = {Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation for Space},
	location     = {Pasadena, California, USA},
	publisher    = {European Space Agency},
	address      = {Noordwijk, NL},
	series       = {i-SAIRAS'2020},
	url          = {https://ai.jpl.nasa.gov/public/papers/M2020-Ground-i-SAIRAS2020-camera.pdf},
	clearance    = {URS294623 CL\#20-4123},
	project      = {m2020}
}

@inproceedings{agrawal_m2020_xaip,
	title        = {Using Explainable Scheduling for the Mars 2020 Rover Mission},
	author       = {Agrawal, J. and Yelamanchili, A. and Chien, S.},
	year         = 2020,
	month        = {October},
	booktitle    = {Workshop on Explainable AI Planning (XAIP), International Conference on Automated Planning and Scheduling (ICAPS XAIP)},
	url          = {https://arxiv.org/pdf/2011.08733.pdf},
	clearance    = {URS296781 CL\#20-5870},
	project      = {m2020-scheduler}
}

@inproceedings{bhask_model_intex2020,
	title        = {Using a Model of Scheduler Runtime to Improve the Effectiveness of Scheduling Embedded in Execution},
	author       = {Bhaskaran, S. and Agrawal, J. and Chien, S.},
	year         = 2020,
	month        = {October},
	booktitle    = {Workshop on Integrated Execution (IntEx) / Goal Reasoning (GR), International Conference on Automated Planning and Scheduling (ICAPS IntEx/GP 2020)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Using-a-model-ICAPS2020-WS.pdf},
	note         = {also presented at the Planning and Robotics (PlanRob) Workshop, International Conference on Automated Planning and Scheduling, 2020},
	clearance    = {URS295594 CL\#20-4590},
	project      = {m2020}
}

@inproceedings{troesch_mexec_asteria_intex2020,
	title        = {MEXEC: An Onboard Integrated Planning and Execution Approach for Spacecraft Commanding},
	author       = {Troesch, M. and Mirza, F. and Hughes, K. and Rothstein-Dowden, A. and Bocchino, R. and Donner, A. and Feather, M. and Smith, B. and Fesq, L. and Barker, B. and Campuzano, B.},
	year         = 2020,
	month        = {October},
	booktitle    = {Workshop on Integrated Execution (IntEx) / Goal Reasoning (GR), International Conference on Automated Planning and Scheduling (ICAPS IntEx/GP 2020)},
	url          = {https://ai.jpl.nasa.gov/public/papers/IntEx-2020-MEXEC.pdf},
	note         = {Also presented at International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 2020) and appears as an abstract.},
	clearance    = {URS293348 CL\#20-4738},
	project      = {mexec, asteria}
}

@inproceedings{europa-lander-uncertainty-icaps2020,
	title        = {Using Flexible Execution, Replanning, and Model Parameter Updates to Address Environmental Uncertainty for a Planetary Lander},
	author       = {Wang, D. and Russino, J. A. and Basich, C. and Chien, S.},
	year         = 2020,
	month        = {October},
	booktitle    = {Workshop on Integrated Execution (IntEx) / Goal Reasoning (GR), International Conference on Automated Planning and Scheduling (ICAPS IntEx/GP 2020)},
	url          = {https://ai.jpl.nasa.gov/public/papers/europa-lander-icaps2020-workshop.pdf},
	note         = {Also presented at Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation for Space. Also presented at Proceedings of ESA-CLAIRE Workshop on Space and AI, European Conference on Artificial Intelligence. Also presented at the Planning and Robotics (PlanRob) Workshop, ICAPS.},
	clearance    = {URS294614 CL\#20-4232},
	project      = {europa-lander}
}

@inproceedings{branch_nav_planrob2020,
	title        = {Golden Selection Search for Single Beacon Homing},
	author       = {Branch, A. and Mason, J. and Chien, S.},
	year         = 2020,
	month        = {October},
	booktitle    = {Workshop on Planning and Robotics, International Conference on Automated Planning and Scheduling (ICAPS PlanRob 2020)},
	url          = {https://ai.jpl.nasa.gov/public/papers/Single-Beacon-Nav--PlanRob.pdf},
	clearance    = {CL\#20-5228},
	project      = {ice\_covered\_oceans}
}

@inproceedings{mason_vents_planrob2020,
	title        = {Evaluation of AUV Search Strategies for the Localization of Hydrothermal Venting},
	author       = {Mason, J. and Branch, A. and Xu, G. and Jakuba, M. and German, C. and Chien, S. and Bowen, A. and Hand, K. and Seewald, J.},
	year         = 2020,
	month        = {October},
	booktitle    = {Workshop on Planning and Robotics, International Conference on Automated Planning and Scheduling (ICAPS PlanRob 2020)},
	url          = {https://ai.jpl.nasa.gov/public/papers/PlanRob-2020-vent-search.pdf},
	clearance    = {CL\#20-5257},
	project      = {ice\_covered\_oceans}
}

@article{chien_jais2019_using,
	title        = {Using Taskable Remote Sensing in a Sensor Web for Thailand Flood Monitoring},
	author       = {S. Chien and D. Mclaren and J. Doubleday and D. Tran and V. Tanpipat and R. Chitradon},
	year         = 2019,
	journal      = {Journal of Aerospace Information Systems (JAIS)},
	volume       = 16,
	number       = 3,
	pages        = {107--119},
	doi          = {10.2514/1.I010672},
	url          = {https://doi.org/10.2514/1.I010672},
	abstract     = {Space-based assets have been integrated into a sensor web to monitor flooding in Thailand. In this approach, the moderate resolution imaging spectrometer data from the Terra and Aqua satellites are used to perform broad-scale monitoring for flood tracking at the regional level (250\hspace{0.167em}\hspace{0.167em}m/pixel) to generate flood detections/alerts. Based on these alerts, the Earth Observing-1 (EO-1) mission is autonomously tasked to acquire higher-resolution (10–30\hspace{0.167em}\hspace{0.167em}m/pixel) advanced land imager data, and a number of other assets have imagery automatically requested, with yet further assets requested only in a semiautomated fashion. Based on these alerts, these data are then automatically processed to derive products such as surface water extent and volumetric water estimates in shapefile formats to enable interpretation in geographic information systems. These products are then automatically pushed to organizations in Thailand for use in damage estimation, relief efforts, and damage mitigation. To date, Terra, Aqua, EO-1, Landsat, Ikonos, WorldView-1, WorldView-2, GeoEye-1, and Radarsat-2 have been used in some fashion in the sensor web. The overall autonomous detection, tasking, data acquisition, and processing sensor web framework are described, as well as ongoing work to extend to in situ sensor networks. How the automatic triggering of targeted higher-resolution observations enables higher temporal and spatial resolution tracking of flooding events is also documented.},
	clearance    = {CL\#18-7355},
	eprint       = {https://doi.org/10.2514/1.I010672},
	organization = {AIAA},
	project      = {tfs}
}

Space-based assets have been integrated into a sensor web to monitor flooding in Thailand. In this approach, the moderate resolution imaging spectrometer data from the Terra and Aqua satellites are used to perform broad-scale monitoring for flood tracking at the regional level (250  m/pixel) to generate flood detections/alerts. Based on these alerts, the Earth Observing-1 (EO-1) mission is autonomously tasked to acquire higher-resolution (10–30  m/pixel) advanced land imager data, and a number of other assets have imagery automatically requested, with yet further assets requested only in a semiautomated fashion. Based on these alerts, these data are then automatically processed to derive products such as surface water extent and volumetric water estimates in shapefile formats to enable interpretation in geographic information systems. These products are then automatically pushed to organizations in Thailand for use in damage estimation, relief efforts, and damage mitigation. To date, Terra, Aqua, EO-1, Landsat, Ikonos, WorldView-1, WorldView-2, GeoEye-1, and Radarsat-2 have been used in some fashion in the sensor web. The overall autonomous detection, tasking, data acquisition, and processing sensor web framework are described, as well as ongoing work to extend to in situ sensor networks. How the automatic triggering of targeted higher-resolution observations enables higher temporal and spatial resolution tracking of flooding events is also documented.

@article{branch_jfr2019_front,
	title        = {Front Delineation and Tracking with Multiple Underwater Vehicles},
	author       = {A. Branch and M. M. Flexas and B. Claus and A. F. Thompson and Y. Zhang and E. B. Clark and S. Chien and D. M. Fratantoni and J. C. Kinsey. and B. Hobson and B. Kieft and F. P. Chavez},
	year         = 2019,
	journal      = {Journal of Field Robotics (JFR)},
	publisher    = {Wiley},
	volume       = 36,
	number       = 3,
	pages        = {568--586},
	doi          = {10.1002/rob.21853},
	url          = {https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21853},
	abstract     = {Abstract This study describes a method for detecting and tracking ocean fronts using multiple autonomous underwater vehicles (AUVs). Multiple vehicles, equally spaced along the expected frontal boundary, complete near parallel transects orthogonal to the front. Two different techniques are used to determine the location of the front crossing from each individual vehicle transect. The first technique uses lateral gradients to detect when a change in the observed water property occurs. The second technique uses a measure of the vertical temperature structure over a single dive to detect when the vehicle is in upwelling water. Adaptive control of the vehicles ensure they remain perpendicular to the estimated front boundary as it evolves over time. This method was demonstrated in several experiment periods totaling weeks, in and around Monterey Bay, CA, in May and June of 2017. We compare the two front detection methods, a lateral gradient front detector and an upwelling front detector using the Vertical Temperature Homogeneity Index. We introduce two metrics to evaluate the adaptive control techniques presented. We show the capability of this method for repeated sampling across a dynamic ocean front using a fleet of three types of platforms: short-range Iver AUVs, Tethys-class long-range AUVs, and Seagliders. This method extends to tracking gradients of different properties using a variety of vehicles.},
	clearance    = {CL\#18-6807},
	eprint       = {https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.21853},
	keywords     = {adaptive sampling, autonomous underwater vehicles, multiasset planning, ocean front tracking},
	project      = {keck\_marine}
}

Abstract This study describes a method for detecting and tracking ocean fronts using multiple autonomous underwater vehicles (AUVs). Multiple vehicles, equally spaced along the expected frontal boundary, complete near parallel transects orthogonal to the front. Two different techniques are used to determine the location of the front crossing from each individual vehicle transect. The first technique uses lateral gradients to detect when a change in the observed water property occurs. The second technique uses a measure of the vertical temperature structure over a single dive to detect when the vehicle is in upwelling water. Adaptive control of the vehicles ensure they remain perpendicular to the estimated front boundary as it evolves over time. This method was demonstrated in several experiment periods totaling weeks, in and around Monterey Bay, CA, in May and June of 2017. We compare the two front detection methods, a lateral gradient front detector and an upwelling front detector using the Vertical Temperature Homogeneity Index. We introduce two metrics to evaluate the adaptive control techniques presented. We show the capability of this method for repeated sampling across a dynamic ocean front using a fleet of three types of platforms: short-range Iver AUVs, Tethys-class long-range AUVs, and Seagliders. This method extends to tracking gradients of different properties using a variety of vehicles.

@article{clark_joe2019_station,
	title        = {Station-Keeping Underwater Gliders Using a Predictive Ocean Circulation Model and Applications to SWOT Calibration and Validation.},
	author       = {E. B. Clark and A. Branch and S. Chien and F. Mirza and J. D. Farrara and Y. Chao and D. Fratantoni and D. Aragon and O. Schofield and M. M. Flexas and A. Thompson},
	year         = 2019,
	month        = {January},
	journal      = {Journal of Oceanic Engineering (JOE)},
	doi          = {10.1109/JOE.2018.2886092},
	url          = {https://ai.jpl.nasa.gov/public/papers/clark-joe2019-station.pdf},
	abstract     = {Instrumented ocean moorings are the gold standard for gathering in situ measurements at a fixed location in the ocean. Because they require installation by a ship and must be secured to the seafloor, moorings are expensive, logistically difficult to deploy and maintain, and are constrained to one location once installed. To circumvent these issues, previous studies have attempted to utilize autonomous underwater gliders as platforms for virtual moorings, but these attempts have yielded comparatively large station-keeping errors due to the difficulty of glider control in dynamic ocean currents.We implemented an adaptive planner using a vehicle motion model and a predictive ocean circulation model to improve station-keeping performance by incorporating anticipated currents into glider control.We demonstrate improved station-keeping performance using our planner in both simulation and in-field deployment results, and report smaller average station-keeping error than the Monterey Bay Aquarium Research Institute's M1 mooring. Finally, we utilize our simulation framework to conduct a feasibility study on using an array of autonomous gliders as virtual moorings to conduct critical calibration and validation (CalVal) for the upcoming National Aeronautics and Space Administration, Surface Water and Ocean Topography (SWOT) Mission, instead of using permanent moorings.We show that this approach carries several advantages and has potential to meet the SWOT CalVal objectives.},
	clearance    = {CL\#19-1192},
	project      = {SWOT\_station}
}

Instrumented ocean moorings are the gold standard for gathering in situ measurements at a fixed location in the ocean. Because they require installation by a ship and must be secured to the seafloor, moorings are expensive, logistically difficult to deploy and maintain, and are constrained to one location once installed. To circumvent these issues, previous studies have attempted to utilize autonomous underwater gliders as platforms for virtual moorings, but these attempts have yielded comparatively large station-keeping errors due to the difficulty of glider control in dynamic ocean currents.We implemented an adaptive planner using a vehicle motion model and a predictive ocean circulation model to improve station-keeping performance by incorporating anticipated currents into glider control.We demonstrate improved station-keeping performance using our planner in both simulation and in-field deployment results, and report smaller average station-keeping error than the Monterey Bay Aquarium Research Institute's M1 mooring. Finally, we utilize our simulation framework to conduct a feasibility study on using an array of autonomous gliders as virtual moorings to conduct critical calibration and validation (CalVal) for the upcoming National Aeronautics and Space Administration, Surface Water and Ocean Topography (SWOT) Mission, instead of using permanent moorings.We show that this approach carries several advantages and has potential to meet the SWOT CalVal objectives.

@article{brown_aj2018_automatic,
	title        = {Automatic detection and tracking of plumes from 67P/Churyumov-Gerasimenko in OSIRIS/Rosetta image sequences},
	author       = {D. Brown and W. Huffman and H. Sierks and D. Thompson and S. Chien},
	year         = 2019,
	month        = {January},
	journal      = {The Astronomical Journal (AJ)},
	volume       = 157,
	number       = 1,
	pages        = 27,
	abstract     = {Solar system bodies such as comets and asteroids are known to eject material from their surface in the form of jets and plumes. Observations of these transient outbursts can offer insight into the inner workings and makeup of their originating body. However, the detection of and response to these events has thus far been manually controlled by ground operations, limiting the response time, due to the light time delay of ground communications. For distant bodies, the delay can exceed the duration of temporary events, making it impossible to respond with follow-up observations. To address this need, we developed a computer vision methodology for detecting plumes of the comet 67P/Churyumov–Gerasimenko from imagery acquired by the OSIRIS scientific camera system. While methods exist for the automatic detection of plumes on spherical and near-convex solar system bodies, this is the first work that addresses the case of highly irregularly shaped bodies such as 67P/Churyumov–Gerasimenko. Our work is divided into two distinct components: an image processing pipeline that refines a model-based estimate of the nucleus body, and an iterative plume detection algorithm that finds regions of local intensity maxima and joins plume segments across successively higher altitudes. Finally, we validate this method by comparing automatically labeled images to those labeled by hand, and find no significant differences in variability. This technique has utility in both ground-based analysis of plume sequences as well as onboard applications, such as isolating short sequences of high activity for priority downloading or triggering follow-up observations with additional instruments.},
	clearance    = {CL\#18-6921},
	organization = {AAS}
}

Solar system bodies such as comets and asteroids are known to eject material from their surface in the form of jets and plumes. Observations of these transient outbursts can offer insight into the inner workings and makeup of their originating body. However, the detection of and response to these events has thus far been manually controlled by ground operations, limiting the response time, due to the light time delay of ground communications. For distant bodies, the delay can exceed the duration of temporary events, making it impossible to respond with follow-up observations. To address this need, we developed a computer vision methodology for detecting plumes of the comet 67P/Churyumov–Gerasimenko from imagery acquired by the OSIRIS scientific camera system. While methods exist for the automatic detection of plumes on spherical and near-convex solar system bodies, this is the first work that addresses the case of highly irregularly shaped bodies such as 67P/Churyumov–Gerasimenko. Our work is divided into two distinct components: an image processing pipeline that refines a model-based estimate of the nucleus body, and an iterative plume detection algorithm that finds regions of local intensity maxima and joins plume segments across successively higher altitudes. Finally, we validate this method by comparing automatically labeled images to those labeled by hand, and find no significant differences in variability. This technique has utility in both ground-based analysis of plume sequences as well as onboard applications, such as isolating short sequences of high activity for priority downloading or triggering follow-up observations with additional instruments.

@inproceedings{agrawal_iwpss2019_disjunction,
	title        = {Enabling Limited Resource-Bounded Disjunction in Scheduling},
	author       = {J. Agrawal and W. Chi and S. Chien and G. Rabideau  and S. Kuhn and D. Gaines},
	year         = 2019,
	month        = {July},
	booktitle    = {11th International Workshop on Planning and Scheduling for Space (IWPSS 2019)},
	address      = {Berkeley, California, USA},
	pages        = {7--15},
	url          = {https://ai.jpl.nasa.gov/public/papers/agrawal-iwpss2019-disjunction.pdf},
	note         = {Also appears at the 29th International Conference on Automated Planning and Scheduling (ICAPS) Workshop PlanRob 2019 and ICAPS SPARK 2019 and ICAPS IntEx 2019},
	abstract     = {We describe three approaches to enabling an extremely computationally limited embedded scheduler to consider a small number of alternative activities based on resource availability. We consider the case where the scheduler is so computationally limited that it cannot backtrack search. The first two approaches precompile resource checks (calleguards) that only enable selection of a preferred alternative activity if sufficient resources are estimated to be available to schedule the remaining activities. The final approach mimics backtracking by invoking the scheduler multiple times with the alternative activities. We present an evaluation of these techniques on mission scenarios (called sol types) from NASA's next planetary rover where these techniques are being evaluated for inclusion in an onboard scheduler.},
	clearance    = {CL\#19-3357},
	project      = {m2020\_simple\_planner}
}

We describe three approaches to enabling an extremely computationally limited embedded scheduler to consider a small number of alternative activities based on resource availability. We consider the case where the scheduler is so computationally limited that it cannot backtrack search. The first two approaches precompile resource checks (calleguards) that only enable selection of a preferred alternative activity if sufficient resources are estimated to be available to schedule the remaining activities. The final approach mimics backtracking by invoking the scheduler multiple times with the alternative activities. We present an evaluation of these techniques on mission scenarios (called sol types) from NASA's next planetary rover where these techniques are being evaluated for inclusion in an onboard scheduler.

@inproceedings{agrawal_iwpss2019_fe,
	title        = {Extended Abstract- Using Rescheduling and Flexible Execution to Address Uncertainty in Execution Duration for a Planetary Rover},
	author       = {J. Agrawal and W. Chi and S. Chien},
	year         = 2019,
	month        = {July},
	booktitle    = {11th International Workshop on Planning and Scheduling for Space (IWPSS 2019)},
	address      = {Berkeley, California, USA},
	pages        = {4--6},
	url          = {https://ai.jpl.nasa.gov/public/papers/agrawal-iwpss2019-fe.pdf},
	note         = {},
	abstract     = {The paper ``Using Rescheduling and Flexible Execution to Address Uncertainty in Execution Duration for a Planetary Rover'' [Agrawal et al. 2019] discusses several rescheduling and execution techniques to allow a scheduler to respond effectively to changes in execution, such as activities ending earlier or later than expected. We discuss these techniques both theoretically and practically in the context of limited CPU, nonzero runtime, embedded scheduler intended for NASA's next planetary rover.},
	clearance    = {CL\#19-2055},
	project      = {m2020\_simple\_planner}
}

The paper ``Using Rescheduling and Flexible Execution to Address Uncertainty in Execution Duration for a Planetary Rover'' [Agrawal et al. 2019] discusses several rescheduling and execution techniques to allow a scheduler to respond effectively to changes in execution, such as activities ending earlier or later than expected. We discuss these techniques both theoretically and practically in the context of limited CPU, nonzero runtime, embedded scheduler intended for NASA's next planetary rover.

@inproceedings{trowbridge_iwpss2019_eep,
	title        = {Elliptic Edge Polygons for Observational Coverage Planning},
	author       = {Michael Trowbridge and Elly Shao and Russell Knight},
	year         = 2019,
	month        = {July},
	booktitle    = {11th International Workshop on Planning and Scheduling for Space (IWPSS 2019)},
	address      = {Berkeley, CA},
	pages        = {176--184},
	url          = {https://ai.jpl.nasa.gov/public/papers/trowbridge-iwpss2019-eep.pdf},
	abstract     = {This paper presents a representation of the polygonal footprint of an Earth-observing 2D framing sensor (i.e. instruments on Rosetta, Planet Labs SkySat) for observation coverage planning that preserves curvature of the footprint edge at little additional memory cost compared to previously published techniques.  Binary operations on field-of-view, ellipsoid intersection edges are introduced, allowing them to serve as edges in a polygon. A computational experiment examines the error produced by using this method versus existing methods of camera footprint representation. Edge approximation error is most significant when the field of view footprint is large compared to the body being observed (small body exploration, fly-bys, or other distant observer scenarios), and negligible when it is small (low altitude Earth observers with narrow fields of view). Great Circles polygons are degenerate elliptic edge polygons, admitting them to the polygon and edge operations in this paper.},
	clearance    = {CL\#19-3145,CL\#19-4086},
	project      = {EagleEye}
}

This paper presents a representation of the polygonal footprint of an Earth-observing 2D framing sensor (i.e. instruments on Rosetta, Planet Labs SkySat) for observation coverage planning that preserves curvature of the footprint edge at little additional memory cost compared to previously published techniques. Binary operations on field-of-view, ellipsoid intersection edges are introduced, allowing them to serve as edges in a polygon. A computational experiment examines the error produced by using this method versus existing methods of camera footprint representation. Edge approximation error is most significant when the field of view footprint is large compared to the body being observed (small body exploration, fly-bys, or other distant observer scenarios), and negligible when it is small (low altitude Earth observers with narrow fields of view). Great Circles polygons are degenerate elliptic edge polygons, admitting them to the polygon and edge operations in this paper.

@inproceedings{russino_iwpss2019_pathogen,
	title        = {Pathogen: Using Campaign Intent To Guide Onboard Planning for a Self-Reliant Rover},
	author       = {Joseph A. Russino and Daniel Gaines and Steve Schaffer and Vincent Wong},
	year         = 2019,
	month        = {July},
	booktitle    = {11th International Workshop on Planning and Scheduling for Space (IWPSS)},
	address      = {Berkeley, CA},
	pages        = {150--224},
	url          = {https://ai.jpl.nasa.gov/public/papers/russino-iwpss2019-pathogen.pdf},
	note         = {Also appears at the 29th International Conference on Automated Planning and Scheduling (ICAPS 2019) Workshop on Planning and Robotics (PlanRob)},
	abstract     = {Exploring subsurface structures with autonomous robots is of growing interest in the context of planetary caves studies. Communication in these environments can change rapidly as assets move around, which can complicate coordination among multiple assets. Limited lifetime must also be accounted for when exploring these subsurface structures, because it is likely that recharging the batteries of the robots will not be possible. The combination of uncertain communication and limited mission duration suggests that accounting for energy when transmitting data out of cave-like structures would be beneficial to mission success. Therefore, in this paper we investigate different energy-aware data routing strategies for multi-robot scenarios where asset lifetime is limited and benchmark their performance in a simulation environment},
	clearance    = {CL\#19-1852},
	project      = {srr}
}

Exploring subsurface structures with autonomous robots is of growing interest in the context of planetary caves studies. Communication in these environments can change rapidly as assets move around, which can complicate coordination among multiple assets. Limited lifetime must also be accounted for when exploring these subsurface structures, because it is likely that recharging the batteries of the robots will not be possible. The combination of uncertain communication and limited mission duration suggests that accounting for energy when transmitting data out of cave-like structures would be beneficial to mission success. Therefore, in this paper we investigate different energy-aware data routing strategies for multi-robot scenarios where asset lifetime is limited and benchmark their performance in a simulation environment

@inproceedings{troesch_iwpss2019_robustmapping,
	title        = {Onboard re-planning for robust mapping using pre-compiled backup observations},
	author       = {M. Troesch and F. Mirza and G. Rabideau and S. Chien},
	year         = 2019,
	month        = {July},
	booktitle    = {11th International Workshop on Planning and Scheduling for Space (IWPSS)},
	address      = {Berkeley, California, USA},
	pages        = {168--175},
	url          = {https://ai.jpl.nasa.gov/public/papers/troesch-iwpss2019-robustmapping.pdf},
	abstract     = {Mapping target bodies by imaging as much of the surface as possible is a common scientific goal for space missions where a spacecraft is orbiting a body, such as a comet, asteroid, or planet. An observation schedule to achieve the mapping goal is generally generated on the ground and then uploaded to the spacecraft. However, without some re-planning capa- bility onboard, opportunities may be lost due to observation failures or unexpected changes in resource availability. The computational and memory restrictions for spacecraft make it difficult to perform the geometric reasoning and calculations required to select observations to achieve the mapping goal onboard, meaning that any re-planning capabilities are also limited. In this paper we present a method for robust map- ping by re-planning observations onboard using pre-compiled backup observations. The nominal schedule and backup ob- servations are generated using the Compressed Large-scale Activity Scheduler and Planner, which are then translated into a Task Network and goal definitions. These can be used by MEXEC, an onboard planning and execution software. We demonstrate our method using a hypothetical scenario of a spacecraft orbiting a comet.},
	clearance    = {CL\#19-3316},
	project      = {mexec, clasp}
}

Mapping target bodies by imaging as much of the surface as possible is a common scientific goal for space missions where a spacecraft is orbiting a body, such as a comet, asteroid, or planet. An observation schedule to achieve the mapping goal is generally generated on the ground and then uploaded to the spacecraft. However, without some re-planning capa- bility onboard, opportunities may be lost due to observation failures or unexpected changes in resource availability. The computational and memory restrictions for spacecraft make it difficult to perform the geometric reasoning and calculations required to select observations to achieve the mapping goal onboard, meaning that any re-planning capabilities are also limited. In this paper we present a method for robust map- ping by re-planning observations onboard using pre-compiled backup observations. The nominal schedule and backup ob- servations are generated using the Compressed Large-scale Activity Scheduler and Planner, which are then translated into a Task Network and goal definitions. These can be used by MEXEC, an onboard planning and execution software. We demonstrate our method using a hypothetical scenario of a spacecraft orbiting a comet.

@inproceedings{johnston_iwpss2019_userprefopt,
	title        = {User Preference Optimization for Oversubscribed Scheduling of NASA's Deep Space Network},
	author       = {Mark D. Johnston},
	year         = 2019,
	month        = {July},
	booktitle    = {11th International Workshop on Planning and Scheduling for Space (IWPSS)},
	address      = {Berkeley, California, USA},
	pages        = {86--92},
	url          = {https://ai.jpl.nasa.gov/public/papers/johnston-iwpss2019-userprefopt.pdf},
	abstract     = {NASA's Deep Space Network (DSN) is the primary resource for communications and navigation for interplanetary space missions, for both NASA and partner agencies. With three complexes spread roughly evenly around the globe, the DSN provides services to dozens of active missions. Growth in mission demand, both in number of spacecraft and in data return, has led to increased loading levels on the network, and projected demand has exceeded network capacity for quite some time. The DSN scheduling process involves peer-to-peer collaborative negotiation, which consumes significant time and resources in order to reach a baseline version of the schedule, and then to manage and agree to changes. The delays inherent in this process are exacerbated by the high level of oversubscription experienced by the DSN: it is not unusual for the scheduling process to start with 20-40\% more requested time can be accommodated on the available antennas. The other NASA networks make use of a static priority list to address a similar problem: missions are ranked in priority order, and the schedule is populated by priority from highest to lowest. Such a mechanism would not work for DSN due to the heterogeneity of the mission set, and to the time-varying mission requirements with mission phase. This paper reports on a new paradigm for DSN scheduling that addresses the key problems inherent in the current process. The main characteristics of the new approach are to use loading-based limits on requested time, and user preferences as the basis for optimization criteria.},
	clearance    = {CL\#19-3416},
	project      = {SSS}
}

NASA's Deep Space Network (DSN) is the primary resource for communications and navigation for interplanetary space missions, for both NASA and partner agencies. With three complexes spread roughly evenly around the globe, the DSN provides services to dozens of active missions. Growth in mission demand, both in number of spacecraft and in data return, has led to increased loading levels on the network, and projected demand has exceeded network capacity for quite some time. The DSN scheduling process involves peer-to-peer collaborative negotiation, which consumes significant time and resources in order to reach a baseline version of the schedule, and then to manage and agree to changes. The delays inherent in this process are exacerbated by the high level of oversubscription experienced by the DSN: it is not unusual for the scheduling process to start with 20-40% more requested time can be accommodated on the available antennas. The other NASA networks make use of a static priority list to address a similar problem: missions are ranked in priority order, and the schedule is populated by priority from highest to lowest. Such a mechanism would not work for DSN due to the heterogeneity of the mission set, and to the time-varying mission requirements with mission phase. This paper reports on a new paradigm for DSN scheduling that addresses the key problems inherent in the current process. The main characteristics of the new approach are to use loading-based limits on requested time, and user preferences as the basis for optimization criteria.

@inproceedings{vaquero_et_al_iwpss2019_routing,
	title        = {Energy-Aware Data Routing for Disruption Tolerant Networks in Planetary Cave Exploration},
	author       = {Tiago Vaquero and Martina Troesch and Marc Sanchez Net and Jay Gao and Steve Chien},
	year         = 2019,
	month        = {July},
	booktitle    = {11th International Workshop on Planning and Scheduling for Space (IWPSS)},
	address      = {Berkeley, CA},
	pages        = {186--193},
	url          = {https://ai.jpl.nasa.gov/public/papers/vaquero-et-al-iwpss2019-routing.pdf},
	note         = {Also appears at the 29th International Conference on Automated Planning and Scheduling (ICAPS 2019) Workshop on Planning and Robotics (PlanRob)},
	abstract     = {Exploring subsurface structures with autonomous robots is of growing interest in the context of planetary caves studies. Communication in these environments can change rapidly as assets move around, which can complicate coordination among multiple assets. Limited lifetime must also be accounted for when exploring these subsurface structures, because it is likely that recharging the batteries of the robots will not be possible. The combination of uncertain communication and limited mission duration suggests that accounting for energy when transmitting data out of cave-like structures would be beneficial to mission success. Therefore, in this paper we investigate different energy-aware data routing strategies for multi-robot scenarios where asset lifetime is limited and benchmark their performance in a simulation environment.},
	clearance    = {CL\#19-3239},
	project      = {CaveRovers}
}

Exploring subsurface structures with autonomous robots is of growing interest in the context of planetary caves studies. Communication in these environments can change rapidly as assets move around, which can complicate coordination among multiple assets. Limited lifetime must also be accounted for when exploring these subsurface structures, because it is likely that recharging the batteries of the robots will not be possible. The combination of uncertain communication and limited mission duration suggests that accounting for energy when transmitting data out of cave-like structures would be beneficial to mission success. Therefore, in this paper we investigate different energy-aware data routing strategies for multi-robot scenarios where asset lifetime is limited and benchmark their performance in a simulation environment.

@inproceedings{hackett_iwpss2019_demandaccess,
	title        = {Investigating a Demand Access Scheduling Paradigm for NASA's Deep Space Network},
	author       = {Timothy Hackett and Sven Bilen and Mark D. Johnston},
	year         = 2019,
	month        = {July},
	booktitle    = {11th International Workshop on Planning and Scheduling for Space (IWPSS)},
	address      = {Berkeley, California, USA},
	pages        = {51--60},
	url          = {https://ai.jpl.nasa.gov/public/papers/hackett-iwpss2019-demandaccess.pdf},
	abstract     = {NASA's Deep Space Network supports the communications to and from spacecraft, rovers, and landers across our solar system and beyond. The weekly tracking requirements for these spacecraft are scheduled by mission representatives at least eight weeks before the start of the track through a combination of automated algorithms and peer-to-peer negotiations. This process has worked well for traditional users with deterministic science collections, such as those doing mapping and imaging. But, this process will not scale well to accommodate a new class of users whose data collections are not completely predictable (i.e., event-driven science), which includes both traditional, deterministic users with unexpected discoveries as well as autonomous users exploring and monitoring for certain events, such as solar flares. In this paper, we propose a ``demand access'' scheduling approach in which the spacecraft, rovers, and landers themselves request track time on the network using a beacon-tone system and are scheduled track time ``on-the-fly'' using pre-scheduled shared-user block tracks. We show through simulation that this demand-access approach can both decrease the mean duration between the time of data collection to the start of the downlink and the number of tracks required compared to the traditional scheduling method for an example mission concept of autonomous SmallSat explorers at near-Earth asteroids. We also show how this demand-access approach can be used in combination with the traditional scheduling method to support legacy users.},
	project      = {SSS}
}

NASA's Deep Space Network supports the communications to and from spacecraft, rovers, and landers across our solar system and beyond. The weekly tracking requirements for these spacecraft are scheduled by mission representatives at least eight weeks before the start of the track through a combination of automated algorithms and peer-to-peer negotiations. This process has worked well for traditional users with deterministic science collections, such as those doing mapping and imaging. But, this process will not scale well to accommodate a new class of users whose data collections are not completely predictable (i.e., event-driven science), which includes both traditional, deterministic users with unexpected discoveries as well as autonomous users exploring and monitoring for certain events, such as solar flares. In this paper, we propose a ``demand access'' scheduling approach in which the spacecraft, rovers, and landers themselves request track time on the network using a beacon-tone system and are scheduled track time ``on-the-fly'' using pre-scheduled shared-user block tracks. We show through simulation that this demand-access approach can both decrease the mean duration between the time of data collection to the start of the downlink and the number of tracks required compared to the traditional scheduling method for an example mission concept of autonomous SmallSat explorers at near-Earth asteroids. We also show how this demand-access approach can be used in combination with the traditional scheduling method to support legacy users.

@inproceedings{fesq_asteria_iee-aero_2019,
	title        = {Extended mission technology demonstrations using the ASTERIA spacecraft},
	author       = {Fesq, Lorraine and Beauchamp, Patricia and Donner, Amanda and Bocchino, Rob and Kennedy, Brian and Mirza, Faiz and Mohan, Swati and Sternberg, David and Smith, Matthew W and Troesch, Martina and others},
	year         = 2019,
	booktitle    = {2019 IEEE Aerospace Conference},
	url          = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=8742020},
	organization = {IEEE},
	project      = {asteria}
}

@inproceedings{vaquero_chien_et_al_icaps19_brittleness,
	title        = {Temporal Brittleness Analysis of Task Networks for Planetary Rovers},
	author       = {Tiago Stegun Vaquero and Steve Chien and Jagriti Agrawal and Wayne Chi and Terrance Huntsberger},
	year         = 2019,
	month        = {July},
	booktitle    = {29th International Conference on Automated Planning and Scheduling (ICAPS)},
	address      = {Berkeley, CA},
	pages        = {564--572},
	url          = {https://ai.jpl.nasa.gov/public/papers/vaquero-chien-et-al-icaps2019-brittleness.pdf},
	abstract     = {We propose a new method to analyze the temporal brittleness of task networks, which allows the detection and enumeration of activities that, with modest task execution duration variation make the execution of the task network dynamically uncontrollable. In this method, we introduce a metric for measuring an activity brittleness - defined as the degree of acceptable deviation of its nominal duration - and describe how that measurement is mapped to task network structure. Complementary to  existing work on plan robustness analysis which informs how likely a task network is to succeed or not, the proposed analysis and metric go deeper to pinpoint the sources of potential brittleness due to temporal constraints and to focus either human designers and/or automated task network generators (e.g. scheduler/planners) to address sources of undesirable brittleness. We apply the approach to a set of task networks (called sol types) in development for NASA's next planetary rover and present common patterns that are sources of brittleness.  These techniques are currently under evaluation for potential use supporting operations of the Mars 2020 rover.},
	clearance    = {CL\#19-1620},
	project      = {m2020, Brittleness}
}

We propose a new method to analyze the temporal brittleness of task networks, which allows the detection and enumeration of activities that, with modest task execution duration variation make the execution of the task network dynamically uncontrollable. In this method, we introduce a metric for measuring an activity brittleness - defined as the degree of acceptable deviation of its nominal duration - and describe how that measurement is mapped to task network structure. Complementary to existing work on plan robustness analysis which informs how likely a task network is to succeed or not, the proposed analysis and metric go deeper to pinpoint the sources of potential brittleness due to temporal constraints and to focus either human designers and/or automated task network generators (e.g. scheduler/planners) to address sources of undesirable brittleness. We apply the approach to a set of task networks (called sol types) in development for NASA's next planetary rover and present common patterns that are sources of brittleness. These techniques are currently under evaluation for potential use supporting operations of the Mars 2020 rover.

@inproceedings{hook_vaquero_et_al_icaps19,
	title        = {Mars On-site Shared Analytics, Information, and Computing},
	author       = {Vander Hook, Joshua and Tiago Stegun Vaquero and Federico Rossi and Martina Troesch and Marc Sanchez-Net and Joshua Schoolcraft and Jean-Pierre de la Croix and Steve Chien},
	year         = 2019,
	month        = {July},
	booktitle    = {29th International Conference on Automated Planning and Scheduling (ICAPS)},
	address      = {Berkeley, CA},
	pages        = {707--715},
	url          = {https://ai.jpl.nasa.gov/public/papers/hook-vaquero-et-al-icaps2019.pdf},
	abstract     = {We study the use of distributed computation in a representative multi-robot planetary exploration mission. We model a network of small rovers with access to computing resources from a static base station based on current design efforts and extrapolation from the Mars 2020 rover autonomy. The key algorithmic problem is simultaneous scheduling of computation, communication, and caching of data, as informed by an autonomous mission planner. We consider minimum makespan scheduling and present a consensus-backed scheduler for shared-world, distributed scheduling based on an Integer Linear Program. We validate the pipeline with simulation and field results. Our results are intended to provide a baseline comparison and motivating application domain for future research into network-aware decentralized scheduling and resource allocation.},
	clearance    = {CL\#19-1933},
	project      = {mosaic}
}

We study the use of distributed computation in a representative multi-robot planetary exploration mission. We model a network of small rovers with access to computing resources from a static base station based on current design efforts and extrapolation from the Mars 2020 rover autonomy. The key algorithmic problem is simultaneous scheduling of computation, communication, and caching of data, as informed by an autonomous mission planner. We consider minimum makespan scheduling and present a consensus-backed scheduler for shared-world, distributed scheduling based on an Integer Linear Program. We validate the pipeline with simulation and field results. Our results are intended to provide a baseline comparison and motivating application domain for future research into network-aware decentralized scheduling and resource allocation.

@inproceedings{chien_estf2019_oco3,
	title        = {Automated Policy-based Scheduling for the OCO-3 mission},
	author       = {A. Yelamanchili and A. Moy and S. Chien and A. Eldering and R. Pavlick and C. Wells},
	year         = 2019,
	month        = {June},
	booktitle    = {Earth Science Technology Forum (ESTF 2019)},
	address      = {Moffett Field, California, USA},
	url          = {https://ai.jpl.nasa.gov/public/posters/chien-estf2019-oco3.pdf},
	note         = {},
	abstract     = {Automated scheduling is being deployed for operations of the Orbiting Carbon Observatory-3 (OCO-3). The OCO-3 scheduling process begins with a mostly-automated dynamic science priority assignment that is input to an automated scheduling of area targets, calibration targets, nadir, and glint mode. We describe the priority first area scheduling algorithm as well as use of AI scheduling for instrument callibration operations. Finally we describe fine pointing scheduling techniques relevant to OCO-3 and other missions but not baselined for OCO-3 usage.},
	clearance    = {CL\#19-3106},
	project      = {oco3, clasp}
}

Automated scheduling is being deployed for operations of the Orbiting Carbon Observatory-3 (OCO-3). The OCO-3 scheduling process begins with a mostly-automated dynamic science priority assignment that is input to an automated scheduling of area targets, calibration targets, nadir, and glint mode. We describe the priority first area scheduling algorithm as well as use of AI scheduling for instrument callibration operations. Finally we describe fine pointing scheduling techniques relevant to OCO-3 and other missions but not baselined for OCO-3 usage.

@inproceedings{chien_estf2019_ecostress,
	title        = {Automated Policy-based Scheduling for the ECOSTRESS mission},
	author       = {A. Yelamanchili and S. Chien and A. Moy and K. Cawse-Nicholson and J. Padams and D. Freeborn},
	year         = 2019,
	month        = {June},
	booktitle    = {Earth Science Technology Forum (ESTF 2019)},
	address      = {Moffett Field, California, USA},
	url          = {https://ai.jpl.nasa.gov/public/posters/chien-estf2019-ecostress.pdf},
	note         = {},
	abstract     = {Automated scheduling is being used for operations of the ECOsystem Spaceborne Thermal Radiometer Experiment on Space Station (ECOSTRESS). Coverage planning technology in the CLASP scheduler was used to: evaluate designs of the overall science campaign implementation prior to launch, nominal operations , and has been key in the ability to design new science coverage strategies and even updated scheduling approaches to address hardware challenges on orbit. In particular we describe: rapid assessment of operations strategies to address radiation sensitivity encountered during operations, automated scheduling of Mass Storage Unit ring buffer resets to address hardware issues encountered in flight, scheduler handling of along track orbit uncertainty, and updated mass storage -less operations schemes.},
	clearance    = {CL\#19-3109},
	project      = {ecostress, clasp}
}

Automated scheduling is being used for operations of the ECOsystem Spaceborne Thermal Radiometer Experiment on Space Station (ECOSTRESS). Coverage planning technology in the CLASP scheduler was used to: evaluate designs of the overall science campaign implementation prior to launch, nominal operations , and has been key in the ability to design new science coverage strategies and even updated scheduling approaches to address hardware challenges on orbit. In particular we describe: rapid assessment of operations strategies to address radiation sensitivity encountered during operations, automated scheduling of Mass Storage Unit ring buffer resets to address hardware issues encountered in flight, scheduler handling of along track orbit uncertainty, and updated mass storage -less operations schemes.

@inproceedings{chien_estf2019_emit,
	title        = {Mission Analysis for EMIT using Automated Coverage Scheduling},
	author       = {A. Yelamanchili and S. Chien and J.Russino and C. Wells and R. Green and B. Oaida and D. R. Thompson},
	year         = 2019,
	month        = {June},
	booktitle    = {Earth Science Technology Forum (ESTF 2019)},
	address      = {Moffett Field, California, USA},
	url          = {https://ai.jpl.nasa.gov/public/posters/chien-estf2019-emit.pdf},
	note         = {},
	abstract     = {Automated scheduling technology is being used to analyze trades between differing instrument designs and observation campaign strategies for the Earth Surface Mineral Dust Source Investigation (EMIT) mission. Automated coverage scheduling can be applied to a range of mission scenarios (a) hardware configurations (e.g. pointing, SSR sizing); (b) observation design (e.g. geometric constraints such as look angle, illumination); (c) observation coverage strategy; and (d) definition of areal targets and specific coverage criteria (grid resolution, percentage coverage).},
	clearance    = {CL\#19-3107},
	project      = {emit, clasp}
}

Automated scheduling technology is being used to analyze trades between differing instrument designs and observation campaign strategies for the Earth Surface Mineral Dust Source Investigation (EMIT) mission. Automated coverage scheduling can be applied to a range of mission scenarios (a) hardware configurations (e.g. pointing, SSR sizing); (b) observation design (e.g. geometric constraints such as look angle, illumination); (c) observation coverage strategy; and (d) definition of areal targets and specific coverage criteria (grid resolution, percentage coverage).

@inproceedings{chien_estf2019_overview,
	title        = {Policy-based automated science coverage scheduling for earth science mission analysis and operations (NISAR, ECOSTRESS, OCO-3, and EMIT)},
	author       = {S. Chien and A. Yelamanchili and J. Doubleday},
	year         = 2019,
	month        = {June},
	booktitle    = {Earth Science Technology Forum (ESTF 2019)},
	address      = {Moffett Field, California, USA},
	url          = {https://ai.jpl.nasa.gov/public/presentations/chien-estf2019-overview.pdf},
	note         = {},
	abstract     = {Automated policy based coverage scheduling is in operational usage in both mission analysis and mission operations for a range of Earth Science missions. We present an overview of the coverage analysis and search-based automated scheduling techniques. Then we describe some of the challenges in modeling complex mission constraints and unique aspects of some of the target missions, drawing examples from work for the NISAR, ECOSTRESS, OCO-3, and EMIT missions. Finally, we describe some promising real for future work including increasing parallelism and leveraging recent advances in hardware for geometric computation.},
	clearance    = {CL\#19-2980},
	project      = {nisar, ecostress, oco-3, emit, clasp}
}

Automated policy based coverage scheduling is in operational usage in both mission analysis and mission operations for a range of Earth Science missions. We present an overview of the coverage analysis and search-based automated scheduling techniques. Then we describe some of the challenges in modeling complex mission constraints and unique aspects of some of the target missions, drawing examples from work for the NISAR, ECOSTRESS, OCO-3, and EMIT missions. Finally, we describe some promising real for future work including increasing parallelism and leveraging recent advances in hardware for geometric computation.

@inproceedings{chi_icaps2019_optimizing,
	title        = {Optimizing Parameters for Uncertain Execution and Rescheduling Robustness},
	author       = {W. Chi and J. Agrawal and S. Chien and E. Fosse and U. Guduri},
	year         = 2019,
	month        = {July},
	booktitle    = {International Conference on Automated Planning and Scheduling (ICAPS 2019)},
	address      = {Berkeley, California, USA},
	url          = {https://ai.jpl.nasa.gov/public/papers/chi-icaps2019-optimizing.pdf},
	abstract     = {We describe use of Monte Carlo simulation to optimize schedule parameters for execution and rescheduling robustness in the face of execution uncertainties. We search in the activity input parameter space where a) the onboard scheduler is a one shot non-backtracking scheduler and b) the activity input priority determines the order in which activities are considered for placement in the schedule. We show that simulation driven search for activity parameters outperforms static priority assignment. Our approach can be viewed as using simulation feedback to determine problem specific heuristics e.g. Squeaky Wheel Optimization. These techniques are currently baselined for use in the ground operations of NASA's next planetary rover, the Mars 2020 rover.},
	clearance    = {CL\#19-1686},
	project      = {m2020\_simple\_planner}
}

We describe use of Monte Carlo simulation to optimize schedule parameters for execution and rescheduling robustness in the face of execution uncertainties. We search in the activity input parameter space where a) the onboard scheduler is a one shot non-backtracking scheduler and b) the activity input priority determines the order in which activities are considered for placement in the schedule. We show that simulation driven search for activity parameters outperforms static priority assignment. Our approach can be viewed as using simulation feedback to determine problem specific heuristics e.g. Squeaky Wheel Optimization. These techniques are currently baselined for use in the ground operations of NASA's next planetary rover, the Mars 2020 rover.

@inproceedings{yelamanchili_iwpss2019_oco3,
	title        = {Automated Scheduling for the OCO-3 Mission},
	author       = {A. Moy and  A. Yelamanchili and S. Chien and A. Eldering and R. Pavlick},
	year         = 2019,
	month        = {July},
	booktitle    = {International Workshop for Planning and Scheduling for Space (IWPSS 2019)},
	address      = {Berkeley, California, USA},
	pages        = {195--203},
	url          = {https://ai.jpl.nasa.gov/public/papers/yelamanchili-iwpss2019-oco3-scheduling.pdf},
	abstract     = {We describe the automated scheduling system in development and in use for the Orbiting Carbon Observatory-3 Mission (OCO-3), which launched to the International Space Station in May 2019. We first describe the high level scheduling prob- lem of scheduling the four types of observations: nadir, glint, target, and snapshot area map. We then describe the major complexity of OCO-3 scheduling - enforcing geometric visi- bility constraints for snapshot area map and target modes. We also describe an automated scheduling of instrument pointing calibration. We then describe current and related work as well as future directions for the scheduling of OCO-3.},
	clearance    = {CL\#19-3425},
	project      = {oco3, clasp}
}

We describe the automated scheduling system in development and in use for the Orbiting Carbon Observatory-3 Mission (OCO-3), which launched to the International Space Station in May 2019. We first describe the high level scheduling prob- lem of scheduling the four types of observations: nadir, glint, target, and snapshot area map. We then describe the major complexity of OCO-3 scheduling - enforcing geometric visi- bility constraints for snapshot area map and target modes. We also describe an automated scheduling of instrument pointing calibration. We then describe current and related work as well as future directions for the scheduling of OCO-3.

@inproceedings{yelamanchili_iwpss2019_ecostress,
	title        = {Automated Science Scheduling for the ECOSTRESS Mission},
	author       = {A. Yelamanchili and S. Chien and A. Moy and E. Shao and M. Trowbridge and K. Cawse-Nicholson and J. Padams and D. Freeborn},
	year         = 2019,
	month        = {July},
	booktitle    = {International Workshop for Planning and Scheduling for Space (IWPSS 2019)},
	address      = {Berkeley, California, USA},
	pages        = {204--211},
	url          = {https://ai.jpl.nasa.gov/public/papers/yelamanchili-iwpss2019-ecostress-scheduling.pdf},
	note         = {Also appears at ICAPS SPARK 2019},
	abstract     = {We describe the use of an automated scheduling system for observation policy design and to schedule operations of the NASA (National Aeronautics and Space Administration) ECOSystem Spaceborne Thermal Radiometer Experiment on Space Station (ECOSTRESS). We describe the adaptation of the Compressed Large-scale Activity Scheduler and Planner (CLASP) scheduling system to the ECOSTRESS schedul- ing problem, highlighting multiple use cases for automated scheduling and several challenges for the scheduling technol- ogy: handling long-term campaigns with changing informa- tion, Mass Storage Unit Ring Buffer operations challenges, and orbit uncertainty. The described scheduling system has been used for operations of the ECOSTRESS instrument since its nominal operations start July 2018 and is expected to operate until mission end in Summer 2019.},
	clearance    = {CL\#19-3340},
	project      = {ecostress, clasp}
}

We describe the use of an automated scheduling system for observation policy design and to schedule operations of the NASA (National Aeronautics and Space Administration) ECOSystem Spaceborne Thermal Radiometer Experiment on Space Station (ECOSTRESS). We describe the adaptation of the Compressed Large-scale Activity Scheduler and Planner (CLASP) scheduling system to the ECOSTRESS schedul- ing problem, highlighting multiple use cases for automated scheduling and several challenges for the scheduling technol- ogy: handling long-term campaigns with changing informa- tion, Mass Storage Unit Ring Buffer operations challenges, and orbit uncertainty. The described scheduling system has been used for operations of the ECOSTRESS instrument since its nominal operations start July 2018 and is expected to operate until mission end in Summer 2019.

@inproceedings{chi_icaps2019_scheduling,
	title        = {Scheduling with Complex Consumptive resources for a Planetary Rover},
	author       = {W. Chi and S. Chien and J. Agrawal},
	year         = 2019,
	month        = {July},
	booktitle    = {International Workshop for Planning and Scheduling for Space (IWPSS 2019)},
	address      = {Berkeley, California, USA},
	pages        = {25--33},
	url          = {https://ai.jpl.nasa.gov/public/papers/chi-icaps2019-scheduling.pdf},
	note         = {Also appears at ICAPS PlanRob 2019 and ICAPS SPARK 2019},
	abstract     = {Generating and scheduling activities is particularly challenging when considering both consumptive resources and complex resource interactions such as time-dependent resource usage. We present three methods of determining valid temporal placement intervals for an activity in a temporally grounded plan in the presence of such constraints. We introduce the Max Duration and Probe algorithms which are sound, but incomplete, and the Linear algorithm which is sound and complete for linear rate resource consumption. We apply these techniques to the problem of scheduling for a planetary rover where the awake durations are affected by existing activities. We demonstrate how the Probe algorithm performs competitively with the Linear algorithm given an advantageous problem space and well-defined heuristics. We show that the Probe and Linear algorithms outperform the Max Duration algorithm empirically. We then empirically present the runtime differences between the three algorithms. The Probe algorithm is currently baselined for use in the onboard scheduler for NASA's next planetary rover, the Mars 2020 rover.},
	clearance    = {CL\#19-3545},
	project      = {m2020\_simple\_planner}
}

Generating and scheduling activities is particularly challenging when considering both consumptive resources and complex resource interactions such as time-dependent resource usage. We present three methods of determining valid temporal placement intervals for an activity in a temporally grounded plan in the presence of such constraints. We introduce the Max Duration and Probe algorithms which are sound, but incomplete, and the Linear algorithm which is sound and complete for linear rate resource consumption. We apply these techniques to the problem of scheduling for a planetary rover where the awake durations are affected by existing activities. We demonstrate how the Probe algorithm performs competitively with the Linear algorithm given an advantageous problem space and well-defined heuristics. We show that the Probe and Linear algorithms outperform the Max Duration algorithm empirically. We then empirically present the runtime differences between the three algorithms. The Probe algorithm is currently baselined for use in the onboard scheduler for NASA's next planetary rover, the Mars 2020 rover.

@inproceedings{basak_aiaa2019_supporting,
	title        = {Supporting Automation in Spacecraft Activity Planning with Simulation and Visualization},
	author       = {Basak Alper Ramaswamy and Jagriti Agrawal and Wayne Chi and So Young Kim and Scott Davidoff and Steve Chien},
	year         = 2019,
	booktitle    = {Proceedings of Science and Technology Forum and Exposition},
	url          = {https://ai.jpl.nasa.gov/public/papers/basak-aiaa2019-supporting.pdf},
	abstract     = {Automation is gaining momentum in spacecraft operations, however, at a much slower pace than comparable application domains. The reasons behind slow adoption is (1) the need for high reliability and (2) the limited interaction between human operators and the automated systems. For automated systems to be adopted and trusted by humans, humans need to gain intuition about the decision making process of the automated system and trust in its execution \cite{lee2004trust}. In this paper, we present how simulation and visualization can enhance adoption of an automated on-board activity scheduling system, specifically in the context of Mars2020 rover mission \cite{chi2018embedding}. The visualization aims to communicate to the users degree of variance and uncertainty in possible schedule execution. Our preliminary validation results suggest that the proposed visualization increases operators' confidence in---and likelihood of adopting---the automated scheduling system.},
	clearance    = {CL\#18-7364},
	organization = {AIAA},
	project      = {m2020}
}

Automation is gaining momentum in spacecraft operations, however, at a much slower pace than comparable application domains. The reasons behind slow adoption is (1) the need for high reliability and (2) the limited interaction between human operators and the automated systems. For automated systems to be adopted and trusted by humans, humans need to gain intuition about the decision making process of the automated system and trust in its execution i̧telee2004trust. In this paper, we present how simulation and visualization can enhance adoption of an automated on-board activity scheduling system, specifically in the context of Mars2020 rover mission i̧techi2018embedding. The visualization aims to communicate to the users degree of variance and uncertainty in possible schedule execution. Our preliminary validation results suggest that the proposed visualization increases operators' confidence in—and likelihood of adopting—the automated scheduling system.

@article{thompson-kahn-green-et-al-2018,
	title        = {Global Spectroscopic Survey of Cloud Thermodynamic Phase at High Spatial Resolution, 2005-2015},
	author       = {R. D. Thompson and B. H. Kahn and R. O. Green and S. A. Chien and E. M. Middleton and D. Q. Tran},
	year         = 2018,
	month        = {November},
	journal      = {Atmospheric Measurement Techniques Discussion},
	doi          = {https://doi.org/10.5194/amt-2017-361},
	url          = {https://doi.org/10.5194/amt-2017-361},
	abstract     = {The distribution of ice, liquid, and mixed phase clouds is important for Earth's planetary radiation budget, impacting cloud optical properties, evolution, and solar reflectivity Most remote orbital thermodynamic phase measurements observe kilometer scales and are insensitive to mixed phases. This under-constrains important processes with outsize radiative forcing impact such as spatial partitioning in mixed phase clouds. To date, the fine spatial structure of cloud phase has not been measured at global scales. Imaging spectroscopy of reflected solar energy from 1.4 to 1.8 \mathrm{\mu}m can address this gap: it directly measures ice and water absorption, a robust indicator of cloud top thermodynamic phase, with spatial resolution of tens to hundreds of meters We report the first such global high spatial resolution survey based on data from 2005 to 2015 acquired by the Hyperion imaging spectrometer onboard NASA's Earth Observer 1 (EO-1) spacecraft Seasonal and latitudinal distributions corroborate observations by the Atmospheric Infrared Sounder (AIRS). For extratropical cloud systems, just 25 percent of variance observed at GCM grid scales of 100 km was related to irreducible measurement error, while 75 percent was explained by spatial correlations possible at finer resolutions.},
	clearance    = {CL\#18-0367},
	organization = {European Geosciences Union},
	project      = {ase}
}

The distribution of ice, liquid, and mixed phase clouds is important for Earth's planetary radiation budget, impacting cloud optical properties, evolution, and solar reflectivity Most remote orbital thermodynamic phase measurements observe kilometer scales and are insensitive to mixed phases. This under-constrains important processes with outsize radiative forcing impact such as spatial partitioning in mixed phase clouds. To date, the fine spatial structure of cloud phase has not been measured at global scales. Imaging spectroscopy of reflected solar energy from 1.4 to 1.8 µm can address this gap: it directly measures ice and water absorption, a robust indicator of cloud top thermodynamic phase, with spatial resolution of tens to hundreds of meters We report the first such global high spatial resolution survey based on data from 2005 to 2015 acquired by the Hyperion imaging spectrometer onboard NASA's Earth Observer 1 (EO-1) spacecraft Seasonal and latitudinal distributions corroborate observations by the Atmospheric Infrared Sounder (AIRS). For extratropical cloud systems, just 25 percent of variance observed at GCM grid scales of 100 km was related to irreducible measurement error, while 75 percent was explained by spatial correlations possible at finer resolutions.

@article{belov_ea2018_decametric,
	title        = {A Space-based Decametric Wavelength Radio Telescope Concept},
	author       = {K. Belov and A. Branch and S. Broschart and J. Castillo-Rogez and S. Chien and L. Clare and R. Dengler and J. Gao and D. Garza and A. Hegedus and S. Hernandez and S. Herzig and T. Imken and H. Kim and S. Mandutianu and A. Romero-Wolf and S. Schaffer and M. Troesch and E. J. Wyatt and J. Lazio},
	year         = 2018,
	month        = {August},
	journal      = {Experimental Astronomy},
	publisher    = {Springer},
	doi          = {10.1007/s10686-018-9601-6},
	url          = {https://doi.org/10.1007/s10686-018-9601-6},
	abstract     = {This paper reports a design study for a space-based decametric wavelength telescope. While not a new concept, this design study focused on many of the operational aspects that would be required for an actual mission. This design optimized the number of spacecraft to insure good visibility of approx. 80 percent of the radio galaxies -- the primary science target for the mission. A 5,000 km lunar orbit was selected to guarantee minimal gravitational perturbations from Earth and lower radio interference. Optimal schemes for data downlink, spacecraft ranging, and power consumption were identified. An optimal mission duration of 1 year was chosen based on science goals, payload complexity, and other factors. Finally, preliminary simulations showing image reconstruction were conducted to confirm viability of the mission. This work is intended to show the viability and science benefits of conducting multi-spacecraft networked radio astronomy missions in the next few years.},
	clearance    = {CL\#18-4423},
	project      = {relic}
}

This paper reports a design study for a space-based decametric wavelength telescope. While not a new concept, this design study focused on many of the operational aspects that would be required for an actual mission. This design optimized the number of spacecraft to insure good visibility of approx. 80 percent of the radio galaxies – the primary science target for the mission. A 5,000 km lunar orbit was selected to guarantee minimal gravitational perturbations from Earth and lower radio interference. Optimal schemes for data downlink, spacecraft ranging, and power consumption were identified. An optimal mission duration of 1 year was chosen based on science goals, payload complexity, and other factors. Finally, preliminary simulations showing image reconstruction were conducted to confirm viability of the mission. This work is intended to show the viability and science benefits of conducting multi-spacecraft networked radio astronomy missions in the next few years.

@article{schaffer_jais2018_automatic,
	title        = {Automatic Orbit Selection for a Radio Interferometric Spacecraft Constellation},
	author       = {S. Schaffer and S. Chien and A. Branch and S. Hernandez},
	year         = 2018,
	journal      = {Journal of Aerospace Information Systems},
	volume       = 15,
	number       = 11,
	pages        = {627--639},
	doi          = {10.2514/1.I010645},
	url          = {https://doi.org/10.2514/1.I010645},
	abstract     = {A constellation of radio telescope spacecraft can leverage interferometry to accurately image distant objects throughout the universe, but mission design must balance among many interrelated constraints. In particular, the number of spacecraft and their time-varying orbital parameters determine what interferometric baselines are feasible for each target, which in turn drives the imaging capabilities of the constellation. The large combinatorics of dynamic constellation configuration and the numerous competing engineering concerns present a challenge that is not well addressed by labor-intensive manual mission design processes. This paper describes search-based optimization methods that direct mission design effort toward promising constellation geometries: those that achieve broad interferometric coverage but remain cost-effective and resilient to failures. Six families of automatic optimization algorithms with complementary search strategies were created to explore among explicit constellation configuration plans. Evaluation of each candidate constellation plan was accelerated by efficiently combining precomputed caches of orbital and interferometric data. Comparative results indicate that leveraging automated optimization for constellation mission design is practical and useful. Optimized constellations demonstrated target image reconstruction errors 10\% better than a manually designed constellation and up to 35\% better than random solutions.},
	clearance    = {CL\#19-4650},
	eprint       = {https://doi.org/10.2514/1.I010645},
	organization = {AIAA},
	project      = {relic}
}

A constellation of radio telescope spacecraft can leverage interferometry to accurately image distant objects throughout the universe, but mission design must balance among many interrelated constraints. In particular, the number of spacecraft and their time-varying orbital parameters determine what interferometric baselines are feasible for each target, which in turn drives the imaging capabilities of the constellation. The large combinatorics of dynamic constellation configuration and the numerous competing engineering concerns present a challenge that is not well addressed by labor-intensive manual mission design processes. This paper describes search-based optimization methods that direct mission design effort toward promising constellation geometries: those that achieve broad interferometric coverage but remain cost-effective and resilient to failures. Six families of automatic optimization algorithms with complementary search strategies were created to explore among explicit constellation configuration plans. Evaluation of each candidate constellation plan was accelerated by efficiently combining precomputed caches of orbital and interferometric data. Comparative results indicate that leveraging automated optimization for constellation mission design is practical and useful. Optimized constellations demonstrated target image reconstruction errors 10% better than a manually designed constellation and up to 35% better than random solutions.

@article{flexas-glider-jtech-2018,
	title        = {Autonomous sampling of ocean submesoscale fronts with ocean gliders and numerical model forecasting},
	author       = {M. M. Flexas and M. I. Troesch and S. Chien and A. F. Thompson and S. Chu and A. Branch and J. D. Farrara and Y. Chao},
	year         = 2018,
	month        = {March},
	journal      = {Journal of Atmospheric and Oceanic Technology},
	volume       = {35 (3)},
	abstract     = {Submesoscale fronts arising from mesoscale stirring are ubiquitous in the ocean and have a strong impact on upper-ocean dynamics. This work presents a method for optimizing the sampling of ocean fronts with autonomous vehicles at meso- and submesoscales, based on a combination of numerical forecast and autonomous planning. This method uses a 48-h forecast from a real-time high-resolution data-assimilative primitive equation ocean model, feature detection techniques, and a planner that controls the observing platform. The method is tested in Monterey Bay, off the coast of California, during a 9-day experiment focused on sampling subsurface thermohaline-compensated structures using a Seaglider as the ocean observing platform. Based on model estimations, the sampling "gain," defined as the magnitude of isopycnal tracer variability sampled, is 50 percent larger in the feature-chasing case with respect to a non-feature-tracking scenario. The ability of the model to reproduce, in space and time, thermohaline submesoscale features is evaluated by quantitatively comparing the model and glider results. The model reproduces the vertical (~50-200 m thick) and lateral (~5-20 km) scales of subsurface subducting fronts and near-bottom features observed in the glider data. The differences between model and glider data are, in part, attributed to the selected glider optimal interpolation parameters and to uncertainties in the forecasting of the location of the structures. This method can be exported to any place in the ocean where high-resolution data-assimilative model output is available, and it allows for the incorporation of multiple observing platforms.},
	project      = {keck\_marine}
}

Submesoscale fronts arising from mesoscale stirring are ubiquitous in the ocean and have a strong impact on upper-ocean dynamics. This work presents a method for optimizing the sampling of ocean fronts with autonomous vehicles at meso- and submesoscales, based on a combination of numerical forecast and autonomous planning. This method uses a 48-h forecast from a real-time high-resolution data-assimilative primitive equation ocean model, feature detection techniques, and a planner that controls the observing platform. The method is tested in Monterey Bay, off the coast of California, during a 9-day experiment focused on sampling subsurface thermohaline-compensated structures using a Seaglider as the ocean observing platform. Based on model estimations, the sampling "gain," defined as the magnitude of isopycnal tracer variability sampled, is 50 percent larger in the feature-chasing case with respect to a non-feature-tracking scenario. The ability of the model to reproduce, in space and time, thermohaline submesoscale features is evaluated by quantitatively comparing the model and glider results. The model reproduces the vertical ( 50-200 m thick) and lateral ( 5-20 km) scales of subsurface subducting fronts and near-bottom features observed in the glider data. The differences between model and glider data are, in part, attributed to the selected glider optimal interpolation parameters and to uncertainties in the forecasting of the location of the structures. This method can be exported to any place in the ocean where high-resolution data-assimilative model output is available, and it allows for the incorporation of multiple observing platforms.

@article{troesch_ras2018_floats,
	title        = {Autonomous control of marine floats in the presence of dynamic, uncertain ocean currents},
	author       = {Troesch, Martina and Chien, Steve and Chao, Yi and Farrara, John and Girton, James and Dunlap, John},
	year         = 2018,
	month        = {October},
	journal      = {Robotics and Autonomous Systems},
	publisher    = {Elsevier},
	volume       = 108,
	project      = {apf}
}

@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}
}

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{jakuba-german-bowen-et-al-2018,
	title        = {Teleoperation and Robotics under Ice: Implications for Planetary Exploration},
	author       = {M. Jakuba and C. R. German and A. D. Bowen and L. L. Whitcomb and K. Hand and A. Branch and S. Chien and C. McFarland},
	year         = 2018,
	month        = {March},
	booktitle    = {IEEE Aerospace Conference (IEEE-Aero 2018)},
	address      = {Big Sky, MT},
	project      = {ice\_covered\_oceans}
}

@inproceedings{sharma-ieeeaero2018-nisar,
	title        = {Instrument Commissioning Timeline for NASA-ISRO Synthetic Aperture Radar (NISAR)},
	author       = {P. Sharma and J. R. Doubleday and S. Shaffer},
	year         = 2018,
	booktitle    = {IEEE Aerospace Conference (IEEE-Aero 2018)},
	address      = {Big Sky, Montana},
	url          = {https://ai.jpl.nasa.gov/public/papers/sharma-ieeeaero2018-nisar.pdf},
	project      = {nisar}
}

@inproceedings{doran_epsc2018_onboard,
	title        = {Onboard Detection of Thermal Anomalies for Europa Clipper},
	author       = {Gary Doran and Ashley Davies and Kiri Wagstaff and Saadat Anwar and Diana Blaney and Steve Chien and Phil Christensen and Serina Diniega},
	year         = 2018,
	month        = {September},
	booktitle    = {In Proceedings of European Planetary Science Congress (EPSC)},
	address      = {Berlin, Germany},
	clearance    = {CL\#18-4314}
}

@inproceedings{wagstaff_opag2018_responsive,
	title        = {Responsive Onboard Science for Europa Clipper},
	author       = {K. Wagstaff and A. Davies and G. Doran and S. Chakraborty and S. Anwar and D. Blaney and S. Chien and P. Christensen and S. Diniega},
	year         = 2018,
	month        = {September},
	booktitle    = {In Proceedings of Outer Planets Assessment Group (OPAG)},
	address      = {Pasadena, California, USA},
	clearance    = {CL\#18-4849}
}

@inproceedings{chi_icaps2018_embedding,
	title        = {Embedding a Scheduler in Execution for a Planetary Rover},
	author       = {W. Chi and S. Chien and J. Agrawal and G. Rabideau and E. Benowitz and D. Gaines and E. Fosse and S. Kuhn and J. Biehl},
	year         = 2018,
	month        = {June},
	booktitle    = {International Conference on Automated Planning and Scheduling (ICAPS 2018)},
	address      = {Delft, Netherlands},
	url          = {https://ai.jpl.nasa.gov/public/papers/chi-icaps2018-embedding.pdf},
	note         = {Also appears at International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2018) as an abstract.},
	abstract     = {Scheduling often takes place in the context of execution.  This reality drives several key design decisions: (1) when to invoke (re) scheduling, (2) what to do when the scheduler is running, and (3) how to use the schedule to execute scheduled activities.  We define these design decisions theoretically in the context of the embedded scheduler and practically in the context of the design of an embedded scheduler for a planetary rover.  We use the concept of a commit window to enable execution to use the previously generated schedule while (re) scheduling.  We define the concepts of fixed cadence, event driven, and hybrid scheduling to control invocation of (re) scheduling.  We define the concept of flexible execution to enable execution of the generated schedule to be adaptive within the response cycle of the scheduler.  We present empirical results from both synthetic and planetary rover scheduling and execution model data that documents the effectiveness of these techniques at enabling the scheduler to take advantage of execution opportunities to complete activities earlier.},
	clearance    = {CL\#18-1223},
	project      = {m2020\_simple\_planner}
}

Scheduling often takes place in the context of execution. This reality drives several key design decisions: (1) when to invoke (re) scheduling, (2) what to do when the scheduler is running, and (3) how to use the schedule to execute scheduled activities. We define these design decisions theoretically in the context of the embedded scheduler and practically in the context of the design of an embedded scheduler for a planetary rover. We use the concept of a commit window to enable execution to use the previously generated schedule while (re) scheduling. We define the concepts of fixed cadence, event driven, and hybrid scheduling to control invocation of (re) scheduling. We define the concept of flexible execution to enable execution of the generated schedule to be adaptive within the response cycle of the scheduler. We present empirical results from both synthetic and planetary rover scheduling and execution model data that documents the effectiveness of these techniques at enabling the scheduler to take advantage of execution opportunities to complete activities earlier.

@inproceedings{troesch-vaquero-et-al-Cave-ICAPS-SysDemo-2018,
	title        = {A Journey Through an Autonomous Multi-rover Coordination Scenario in Mars Cave Exploration},
	author       = {Martina Troesch and Tiago Vaquero and Amos Byon and Steve Chien},
	year         = 2018,
	month        = {June},
	booktitle    = {International Conference on Planning and Scheduling (ICAPS 2018) System Demonstrations and Exhibits Track},
	address      = {Delft, Netherlands},
	clearance    = {CL\#18-1881},
	project      = {CaveRovers},
	todo         = {url}
}

@inproceedings{vaquero-hook-et-al-Mosaic-ICAPS-SysDemo-2018,
	title        = {A Simulation Framework for Computation Sharing in Mars Spacecraft Network},
	author       = {Tiago Vaquero and Vander Hook, Joshua and Martina Troesch and Steve Chien},
	year         = 2018,
	month        = {June},
	booktitle    = {International Conference on Planning and Scheduling (ICAPS 2018) System Demonstrations and Exhibits Track},
	address      = {Delft, Netherlands},
	clearance    = {CL\#18-1853},
	project      = {mosaic},
	todo         = {url}
}

@inproceedings{lad_spaceops2018_complexity,
	title        = {Complexity-Based Link Assignment for NASA's Deep Space Network for Follow-the-Sun Operations},
	author       = {Jigna Lad and Mark D. Johnston and Daniel Tran and David Brown and Kenneth Roffo and Carlyn-Ann Lee},
	year         = 2018,
	month        = {May},
	booktitle    = {International Conference On Space Operations (SpaceOps 2018)},
	address      = {Marseille, France},
	url          = {https://ai.jpl.nasa.gov/public/papers/lad-spaceops2018-complexity.pdf},
	abstract     = {NASA's Deep Space Network (DSN) recently underwent a paradigm shift in its operations approach called Follow the Sun Operations (FtSO) in an effort to increase efficiency for forthcoming expansion of the network. This change requires each Deep Space Communications Complex (DSCC) to remotely control the other two complexes during their local day shift in contrast to locally controlling only their own antennas 24x7 . Remote operations increases the workload of each complex during their day shift, specifically that of the Link Control Operators (LCOs), and presents a new challenge for planning and managing the distribution of responsibility for each link. A new DSN software assembly, the Link Complexity and Maintenance (LCM) software, was developed to support workload management for LCOs, as well as for planning site - local maintenance activities. The LCM deployment was a vital part of the transition to FtSO in November 2017. This paper discusses the architecture of LCM, its feature set, and lessons learned during its development and roll - out.},
	clearance    = {CL\#18-1899},
	project      = {SSS}
}

NASA's Deep Space Network (DSN) recently underwent a paradigm shift in its operations approach called Follow the Sun Operations (FtSO) in an effort to increase efficiency for forthcoming expansion of the network. This change requires each Deep Space Communications Complex (DSCC) to remotely control the other two complexes during their local day shift in contrast to locally controlling only their own antennas 24x7 . Remote operations increases the workload of each complex during their day shift, specifically that of the Link Control Operators (LCOs), and presents a new challenge for planning and managing the distribution of responsibility for each link. A new DSN software assembly, the Link Complexity and Maintenance (LCM) software, was developed to support workload management for LCOs, as well as for planning site - local maintenance activities. The LCM deployment was a vital part of the transition to FtSO in November 2017. This paper discusses the architecture of LCM, its feature set, and lessons learned during its development and roll - out.

@inproceedings{johnston_spaceops2018_forecasting,
	title        = {Integrated Planning and Scheduling for NASA's Deep Space Network – from Forecasting to Real-time},
	author       = {Mark D. Johnston and Jigna Lad},
	year         = 2018,
	month        = {May},
	booktitle    = {International Conference On Space Operations (SpaceOps 2018)},
	address      = {Marseille, France},
	url          = {https://ai.jpl.nasa.gov/public/papers/johnston-spaceops2018-forecasting.pdf},
	abstract     = {Over a period of several years, the software systems that plan and schedule the use of NASA's Deep Space Network (DSN) for the projects it serves have been upgraded from a disparate set of decades - old software components, to an integrated suite covering long - range planning and forecasting, all the way to real - time scheduling. The most recent component of this suite is known as LAPS, for Loading Analysis and Planning Software, and is responsible for long - term planning and forecasting, including studies and analysis of new mi ssions, changed mission requirements, downt ime, and new or changed antenna capabilities . This paper discuss es the architecture of LAPS and its interfaces with other elements of DSN planning and scheduling, its user interfaces, and some lessons learned from development and deployment.},
	clearance    = {CL\#18-1900},
	project      = {SSS}
}

Over a period of several years, the software systems that plan and schedule the use of NASA's Deep Space Network (DSN) for the projects it serves have been upgraded from a disparate set of decades - old software components, to an integrated suite covering long - range planning and forecasting, all the way to real - time scheduling. The most recent component of this suite is known as LAPS, for Loading Analysis and Planning Software, and is responsible for long - term planning and forecasting, including studies and analysis of new mi ssions, changed mission requirements, downt ime, and new or changed antenna capabilities . This paper discuss es the architecture of LAPS and its interfaces with other elements of DSN planning and scheduling, its user interfaces, and some lessons learned from development and deployment.

@inproceedings{hackett_spaceops2018_block,
	title        = {Spacecraft Block Scheduling for NASA's Deep Space Network},
	author       = {Timothy M. Hackett and Mark D. Johnston and Sven G. Bilen},
	year         = 2018,
	month        = {May},
	booktitle    = {International Conference On Space Operations (SpaceOps 2018)},
	address      = {Marseille, France},
	url          = {https://ai.jpl.nasa.gov/public/papers/hackett-spaceops2018-block.pdf},
	abstract     = {Currently, NASA's Deep Space Network (DSN) is responsible for uplink to, downlink from, and/or tracking of dozens of missions for space agencies across the world. The DSN scheduling process starts about four months prior to the start of the schedule week, a process in which requirements are defined and then the schedule is created, de-conflicted, and negotiated over the next 2–3 weeks with a team of mission representatives. Now scheduled for late 2019, Exploration Mission 1 (EM-1) will deploy upwards of 12 SmallSat missions that will be served by the DSN. This will increase the DSN's actively serviced spacecraft by up to 30 percent, further increasing the difficulty of meeting all mission needs via the oversubscribed network. To mitigate their impact on DSN scheduling, a block scheduling process is proposed for scheduling the SmallSats. Block scheduling consists of aggregating spacecraft together into larger pseudo-spacecraft'' based on geometric alignment that then follow the same process as any other DSN mission to receive segments of track time. These tracks are then decomposed into tracks for individual users based on their specific requirements. This paper describes a full novel scheduling toolset for building candidate blocks, evaluating the efficacy of these blocks, and optimal and suboptimal de-blocking schemes. To demonstrate these developed tools, results from three simulations are presented: a blocking example with lunar SmallSats, blocking potential in the greater DSN spacecraft catalog, and opportunistic multiple spacecraft per aperture potential for the DSN spacecraft catalog. Block scheduling has the potential to reduce overhead and scheduling resources for the EM-1 SmallSats while also providing them with a better means to meet their mission requirements.},
	clearance    = {CL\#18-18-1953},
	project      = {SSS}
}

Currently, NASA's Deep Space Network (DSN) is responsible for uplink to, downlink from, and/or tracking of dozens of missions for space agencies across the world. The DSN scheduling process starts about four months prior to the start of the schedule week, a process in which requirements are defined and then the schedule is created, de-conflicted, and negotiated over the next 2–3 weeks with a team of mission representatives. Now scheduled for late 2019, Exploration Mission 1 (EM-1) will deploy upwards of 12 SmallSat missions that will be served by the DSN. This will increase the DSN's actively serviced spacecraft by up to 30 percent, further increasing the difficulty of meeting all mission needs via the oversubscribed network. To mitigate their impact on DSN scheduling, a block scheduling process is proposed for scheduling the SmallSats. Block scheduling consists of aggregating spacecraft together into larger pseudo-spacecraft'' based on geometric alignment that then follow the same process as any other DSN mission to receive segments of track time. These tracks are then decomposed into tracks for individual users based on their specific requirements. This paper describes a full novel scheduling toolset for building candidate blocks, evaluating the efficacy of these blocks, and optimal and suboptimal de-blocking schemes. To demonstrate these developed tools, results from three simulations are presented: a blocking example with lunar SmallSats, blocking potential in the greater DSN spacecraft catalog, and opportunistic multiple spacecraft per aperture potential for the DSN spacecraft catalog. Block scheduling has the potential to reduce overhead and scheduling resources for the EM-1 SmallSats while also providing them with a better means to meet their mission requirements.

@inproceedings{brown_isairas2018_plumes,
	title        = {Detecting and tracking of plumes at 67P/Churyumov-Gerasimenko in OSIRIS/Rosetta image sequences: Summary Report},
	author       = {D. Brown and W. Huffman and D. Thompson and S. Chien and H. Sierks},
	year         = 2018,
	month        = {July},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2018)},
	address      = {Madrid, Spain},
	url          = {https://ai.jpl.nasa.gov/public/papers/brown-ijcai2017-plumes.pdf},
	note         = {Also appears at AI in the Oceans and Space Workshop, International Joint Conference on Artificial Intelligence (IJCAI 2017)},
	also_appears_address = {Melbourne, Australia},
	also_appears_booktitle = {AI in the Oceans and Space Workshop, International Joint Conference on Artificial Intelligence (IJCAI 2017)},
	also_appears_month = {August},
	also_appears_title = {Automatic detection and tracking of plumes from 67P/Churyumov-Gerasimenko in OSIRIS/Rosetta image sequences: A preliminary report},
	also_appears_year = 2017,
	clearance    = {CL\#17-4040},
	project      = {rosetta}
}

@inproceedings{wyatt_isairas2018_networking,
	title        = {Autonomous Networking for Robotic Deep Space Exploration},
	author       = {E. Jay Wyatt and Konstantin Belov and Julie Castillo-Rogez and Steve Chien and Abigail Fraeman and Jay Gao and Sebastian Herzig and T. Joesph W. Lazio and Martina Troesch and Tiago Vaquero},
	year         = 2018,
	month        = {July},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2018)},
	address      = {Madrid, Spain},
	url          = {https://ai.jpl.nasa.gov/public/papers/wyatt-isairas2018-networking.pdf},
	abstract     = {Networked constellations of small spacecraft are emerging as novel ways to perform entirely new types of science observations that would not otherwise be possible [1], enable exploration of regions of high scientific value and that also could potentially be occupied by future human explorers (i.e., caves) [2], and demonstrate capabilities that will be useful for eventual human-robotic teams on the surface of the Moon or Mars [3]. In this paper, three mission concepts are presented and the resulting mission architectures are described. The first is a low radio frequency observatory involving tens of small spacecraft; the second is a multi-vehicle surface armada involving heterogeneous rovers (scouts, science rovers); and the third is a Lunar or Mars cave exploration scenario. Spacecraft networking architectures are determined by a unique combination of factors, including mission design constraints, mission objectives, autonomy capabilities, and networking capabilities. The combination of two technologies in particular, Disruption Tolerant Networking (DTN) [4, 5] and coordinated autonomy algorithms [6] can be enabling to these types of missions and are a focus for this paper. DTN can be thought of as the internet protocol for space and other critical applications where reliable and automated store-and-forward communications are needed. While particularly useful for long-haul links with large light time delays, DTN is also powerful for automating communication and maximizing throughput even when the communication delays are relatively short between the networked nodes. At the application layer, the ability to plan, replan, and coordinate autonomously among the nodes of the network can be important to achieve mission objectives, lower operations cost, and maximum data return.},
	clearance    = {CL\#18-2867},
	project      = {CaveRovers}
}

Networked constellations of small spacecraft are emerging as novel ways to perform entirely new types of science observations that would not otherwise be possible [1], enable exploration of regions of high scientific value and that also could potentially be occupied by future human explorers (i.e., caves) [2], and demonstrate capabilities that will be useful for eventual human-robotic teams on the surface of the Moon or Mars [3]. In this paper, three mission concepts are presented and the resulting mission architectures are described. The first is a low radio frequency observatory involving tens of small spacecraft; the second is a multi-vehicle surface armada involving heterogeneous rovers (scouts, science rovers); and the third is a Lunar or Mars cave exploration scenario. Spacecraft networking architectures are determined by a unique combination of factors, including mission design constraints, mission objectives, autonomy capabilities, and networking capabilities. The combination of two technologies in particular, Disruption Tolerant Networking (DTN) [4, 5] and coordinated autonomy algorithms [6] can be enabling to these types of missions and are a focus for this paper. DTN can be thought of as the internet protocol for space and other critical applications where reliable and automated store-and-forward communications are needed. While particularly useful for long-haul links with large light time delays, DTN is also powerful for automating communication and maximizing throughput even when the communication delays are relatively short between the networked nodes. At the application layer, the ability to plan, replan, and coordinate autonomously among the nodes of the network can be important to achieve mission objectives, lower operations cost, and maximum data return.

@inproceedings{wagstaff_isairas2018_novelty,
	title        = {Cloud Filtering and Novelty Detection using Onboard Machine Learning for the EO-1 Spacecraft},
	author       = {K. Wagstaff and S. Chien and A. Altinok and U. Rebbapragada and D. Thompson and S. Schaffer and D. Tran},
	year         = 2018,
	month        = {July},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2018)},
	address      = {Madrid, Spain},
	url          = {https://ai.jpl.nasa.gov/public/papers/wagstaff-ijcai2017-novelty.pdf},
	note         = {Also appears at AI in the Oceans and Space Workshop, International Joint Conference on Artificial Intelligence (IJCAI 2017)},
	also_appears_address = {Melbourne, Australia},
	also_appears_booktitle = {AI in the Oceans and Space Workshop, International Joint Conference on Artificial Intelligence (IJCAI 2017)},
	also_appears_month = {August},
	also_appears_year = 2017,
	clearance    = {CL\#17-2844},
	project      = {ASE}
}

@inproceedings{schaffer_isairas2018_orbit,
	title        = {Heuristic-Guided Orbit Selection for a Radio-Interferometric Spacecraft Constellation: Summary Report},
	author       = {S. Schaffer and A. Branch and S. Hernandez and S. Chien},
	year         = 2018,
	month        = {July},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2018)},
	address      = {Madrid, Spain},
	url          = {https://ai.jpl.nasa.gov/public/papers/schaffer-ijcai2017-orbit.pdf},
	note         = {Also appears at AI in the Oceans and Space Workshop, International Joint Conference on Artificial Intelligence (IJCAI 2017)},
	also_appears_address = {Melbourne, Australia},
	also_appears_booktitle = {AI in the Oceans and Space Workshop, International Joint Conference on Artificial Intelligence (IJCAI 2017)},
	also_appears_month = {August},
	also_appears_title = {Preliminary Results on Heuristic-Guided Orbit Selection for a Radio-Interferometric Spacecraft Constellation},
	also_appears_year = 2017,
	clearance    = {CL\#17-4089},
	project      = {relic}
}

@inproceedings{schaffer_isairas2018_clipper,
	title        = {Validation of Fault-Tolerant Plans for Europa Clipper},
	author       = {S. Schaffer and S. Chien and E. Ferguson},
	year         = 2018,
	month        = {July},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2018)},
	address      = {Madrid, Spain},
	url          = {https://ai.jpl.nasa.gov/public/papers/schaffer-isairas2018-clipper.pdf},
	clearance    = {CL\#18-2114},
	project      = {clipper}
}

@inproceedings{chi_isairas2018_squeaky,
	title        = {Using Squeaky Wheel Optimization to Derive Problem Specific Control Information for a One Shot Scheduler for a Planetary Rover},
	author       = {Wayne Chi and Steve Chien and Jagriti Agrawal},
	year         = 2018,
	month        = {July},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2018)},
	address      = {Madrid, Spain},
	url          = {https://ai.jpl.nasa.gov/public/papers/chi-icaps2018-squeaky.pdf},
	note         = {Also appears at 2018 International Conference on Planning and Scheduling Workshop on Planning and Robotics (ICAPS PlanRob 2018) and Workshop on Scheduling and Planning Applications (ICAPS SPARK 2018)},
	abstract     = {We describe the application of using Monte Carlo simulation to optimize a schedule for execution and rescheduling robustness and activity score in the face of execution uncertainties.  We apply these techniques to the problem of optimizing a schedule for a planetary rover with very limited onboard computation.  We search in the schedule activity priority space - where the onboard scheduler is (a) a one shot non-backtracking scheduler in which (b) the activity priority determines the order in which activities are considered for placement in the schedule and (c) once an activity is placed it is never moved or deleted.  We show that simulation driven search outperforms a number of alternative proposed heuristic static priority assignment schemes.  Our approach can be viewed using simulation feedback to determine problem specific heuristics much like squeaky wheel optimization.},
	clearance    = {CL\#18-2732},
	project      = {m2020\_simple\_planner}
}

We describe the application of using Monte Carlo simulation to optimize a schedule for execution and rescheduling robustness and activity score in the face of execution uncertainties. We apply these techniques to the problem of optimizing a schedule for a planetary rover with very limited onboard computation. We search in the schedule activity priority space - where the onboard scheduler is (a) a one shot non-backtracking scheduler in which (b) the activity priority determines the order in which activities are considered for placement in the schedule and (c) once an activity is placed it is never moved or deleted. We show that simulation driven search outperforms a number of alternative proposed heuristic static priority assignment schemes. Our approach can be viewed using simulation feedback to determine problem specific heuristics much like squeaky wheel optimization.

@inproceedings{vaquero-troesch-chien-Cave-i-SAIRAS-2018,
	title        = {An Approach for Autonomous Multi-rover Collaboration for Mars Cave Exploration: Preliminary Results},
	author       = {Tiago Vaquero and Martina Troesch and Steve Chien},
	year         = 2018,
	month        = {June},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS 2018)},
	address      = {Madrid, Spain},
	note         = {Also appears at the 28th International Conference on Automated Planning and Scheduling (ICAPS) 2018 Workshop on Planning and Robotics (PlanRob) and Workshop on Distributed and Multi-Agent Planning (DMAP), Delft, Netherlands.},
	abstract     = {Mars caves are promising targets for planetary science and human shelter. Exploring these environments would pose several challenges, including limited communication, lack of sunlight, limited vehicles lifetime that would not allow humans in the loop, and a totally unknown environment. Mission to these underground environments would required levels of autonomy, coordination and collaboration never been deployed before in rovers. In this paper we propose a multi-rover coordination algorithm and experimental framework for cave exploration missions. We describe preliminary experimental results with this coordination algorithm in a realistic simulated cave. We analyze rover coordination performance in different environmental settings and provide insights on potential opportunities for enhanced autonomy with AI planning and scheduling.},
	clearance    = {CL\#18-2123},
	project      = {CaveRovers},
	todo         = {url}
}

Mars caves are promising targets for planetary science and human shelter. Exploring these environments would pose several challenges, including limited communication, lack of sunlight, limited vehicles lifetime that would not allow humans in the loop, and a totally unknown environment. Mission to these underground environments would required levels of autonomy, coordination and collaboration never been deployed before in rovers. In this paper we propose a multi-rover coordination algorithm and experimental framework for cave exploration missions. We describe preliminary experimental results with this coordination algorithm in a realistic simulated cave. We analyze rover coordination performance in different environmental settings and provide insights on potential opportunities for enhanced autonomy with AI planning and scheduling.

@inproceedings{hook-vaquero-et-al-i-SAIRAS-2018,
	title        = {Dynamic Shared Computing Resources for Multi-Robot Mars Exploration},
	author       = {Vander Hook, Joshua and Tiago Vaquero and Martina Troesch and Jean-Pierre de la Croix and Joshua Schoolcraft and Saptarshi Bandyopadhyay and Steve Chien},
	year         = 2018,
	month        = {June},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS 2018)},
	address      = {Madrid, Spain},
	note         = {Also appears at the 28th International Conference on Automated Planning and Scheduling (ICAPS) 2018 Workshop on Planning and Robotics (PlanRob), Delft, Netherlands.},
	abstract     = {The NASA roadmap for 2020 and beyond includes several key technologies which will have a game-changing impact on planetary exploration. The first of these is High Performance Spaceflight Computing (HPSC), which will provide orders of magnitude increases in processing power for next-generation rovers and orbiters (Doyle et al. 2013). The second is Delay Tolerant Networking, which overlays the Deep Space Network, providing internet-like abstractions and store-forward to route data through intermittent delays in connectivity. The third is a trend toward small, co-dependent robots included in flagship missions (MarCO, PUFFER, and Mars Heli). Taken together, these imply an increasing amount of communication and computing heterogeneity on Mars in coming decades.   Motivated by these technological trends, we study the concept of Mars on-site shared analysis, information, and communication (MOSAIC) for Mars exploration. The key algorithmic problem associated with MOSAIC networks is simultaneous scheduling of computation, communication, and caching of data, which we illustrate using the three scenarios. We present models, preliminary solutions, and simulation results for two scenarios, showing how mission efficiency relates to communication bandwidth, processing power, geography of the environment, and optimal scheduling of computation, communication, and data caching. The third scenario illustrates future directions of this work.},
	project      = {mosaic},
	todo         = {clearance number, url}
}

The NASA roadmap for 2020 and beyond includes several key technologies which will have a game-changing impact on planetary exploration. The first of these is High Performance Spaceflight Computing (HPSC), which will provide orders of magnitude increases in processing power for next-generation rovers and orbiters (Doyle et al. 2013). The second is Delay Tolerant Networking, which overlays the Deep Space Network, providing internet-like abstractions and store-forward to route data through intermittent delays in connectivity. The third is a trend toward small, co-dependent robots included in flagship missions (MarCO, PUFFER, and Mars Heli). Taken together, these imply an increasing amount of communication and computing heterogeneity on Mars in coming decades. Motivated by these technological trends, we study the concept of Mars on-site shared analysis, information, and communication (MOSAIC) for Mars exploration. The key algorithmic problem associated with MOSAIC networks is simultaneous scheduling of computation, communication, and caching of data, which we illustrate using the three scenarios. We present models, preliminary solutions, and simulation results for two scenarios, showing how mission efficiency relates to communication bandwidth, processing power, geography of the environment, and optimal scheduling of computation, communication, and data caching. The third scenario illustrates future directions of this work.

@inproceedings{fraeman-castilho-rogez-wyatt-et-al-MEPAG-2018,
	title        = {Assessing Martian Cave Exploration for the Next Decadal Survey},
	author       = {A. A. Fraeman and J. C. Castillo-Rogez and E. J. Wyatt and S. A. Chien and S. J. Herzig and J. L. Gao and M. Troesch and T. S. Vaquero and W. B. Walsh and K. V. Belov and K. L. Mitchell and J. Lazio},
	year         = 2018,
	month        = {April},
	booktitle    = {Mars Exploration Program Analysis Group (MEPAG)},
	address      = {Washington, DC},
	url          = {https://mepag.jpl.nasa.gov/meeting/abstracts/Fraeman\%5Fconstellation.pdf},
	project      = {CaveRovers}
}

@inproceedings{fratantoni-branch-chao-et-al-2018,
	title        = {Towards Fully Autonomous Ocean Observing: Coupling Heterogeneous Robotic Arrays with Data-assimilating Models and Autonomous Path Planning},
	author       = {D. Fratantoni and A. Branch and Y. Chao and F. Chavez and S. Chien and S. Chu and E. Clark and B. Claus and Z. Erickson and J. Farrara and M. Flexas and J. Kepper and B. Kieft and J. Kinsey and B. Hobson and A. Thompson and M. Troesch and W. Yuan and Y. Zhang},
	year         = 2018,
	month        = {February},
	booktitle    = {Ocean Sciences Meeting},
	address      = {Portland, OR},
	project      = {keck\_marine}
}

@inproceedings{chao-fratantoni-farrara-et-al-2018,
	title        = {Monterey Bay Field Experiment to Support Surface Water Ocean Topography (SWOT) mission Calibration and Validation},
	author       = {Y. Chao and D. Fratantoni and J. Farrara and S. Chien and A. Branch and E. Clark and L. Fu and J. Wang and B. Haines and A. Thompson and M. Flexas and O. Schofield and D. Aragon and J. Kerfoot and C. Haldeman and M. Lankhorst and C. Meinig and S. Stalin},
	year         = 2018,
	month        = {February},
	booktitle    = {Ocean Sciences Meeting},
	address      = {Portland, OR},
	project      = {SWOT\_station}
}

@inproceedings{shao_spark2018_coverage,
	title        = {Area Coverage Planning with 3-axis Steerable, 2D Framing Sensors},
	author       = {Elly Shao and Amos Byon and Chris Davies and Evan Davis and Russell Knight and Garett Lewellen and Michael Trowbridge and Steve Chien},
	year         = 2018,
	month        = {June},
	booktitle    = {Scheduling and Planning Applications Workshop , International Conference on Automated Planning and Scheduling (ICAPS SPARK 2018)},
	address      = {Delft, Netherlands},
	url          = {https://ai.jpl.nasa.gov/public/papers/shao-spark2018-coverage.pdf},
	abstract     = {Existing algorithms for Agile Earth Observing Satellites were largely created for 1D line sensors that acquire images in linear swaths. However, imaging satellites increasingly use 2D framing sensors (cameras) that capture discrete rectangular images. We describe tiling step-stare approaches that are more suited to rectangular image footprints than are 1D swath-based algorithms. Optimal area planning for these 2D framing instruments is an NP-complete problem and intractable for large areas, so we present four approximation algorithms. Strategies are compared against a prior 2D framing instrument algorithm (Knight 2014) in three computational experiments. The impact of observer agility on schedule makespan is examined. Makespans vary more as observer agility decreases toward a critical point, then vary less after the critical point, suggesting a possible problem phase transition.},
	clearance    = {CL\#18-2435},
	project      = {EagleEye}
}

Existing algorithms for Agile Earth Observing Satellites were largely created for 1D line sensors that acquire images in linear swaths. However, imaging satellites increasingly use 2D framing sensors (cameras) that capture discrete rectangular images. We describe tiling step-stare approaches that are more suited to rectangular image footprints than are 1D swath-based algorithms. Optimal area planning for these 2D framing instruments is an NP-complete problem and intractable for large areas, so we present four approximation algorithms. Strategies are compared against a prior 2D framing instrument algorithm (Knight 2014) in three computational experiments. The impact of observer agility on schedule makespan is examined. Makespans vary more as observer agility decreases toward a critical point, then vary less after the critical point, suggesting a possible problem phase transition.

@inproceedings{chi-chien-agrawal-et-al-additional-2018,
	title        = {Embedding a Scheduler in Execution for a Planetary Rover: Additional Materials},
	author       = {W. Chi and S. Chien and J. Agrawal and G. Rabideau and E. Benowitz and D. Gaines and E. Fosse and S. Kuhn and J. Biehl},
	year         = 2018,
	month        = {June},
	booktitle    = {Technical Report D-101730, Jet Propulsion Laboratory},
	url          = {https://ai.jpl.nasa.gov/public/papers/chi-additional2018-embedding.pdf},
	abstract     = {This document contains additional information and empirical data for the paper Embedding a Scheduler in Execution for a Planetary Rover (Chi et al. 2018).},
	clearance    = {CL\#18-1538},
	organization = {Jet Propulsion Laboratory},
	project      = {m2020\_simple\_planner}
}

This document contains additional information and empirical data for the paper Embedding a Scheduler in Execution for a Planetary Rover (Chi et al. 2018).

@inproceedings{german_cospar2018_oases,
	title        = {Oases for Life Beneath Ice-Covered Oceans: Hydrothermal Exploration of Ocean Worlds},
	author       = {C. German and A. Boetius and A. Bowen and A. Branch and S. Chien and M. Jakuba and J. Kinsey and K. Hand and J. Seewald and G. Xu},
	year         = 2018,
	month        = {July},
	booktitle    = {The 42nd Committee on Space Research (COSPAR) Scientific Assembly 2018},
	address      = {Pasadena, California, USA}
}

@inproceedings{castillo-rogez-fraeman-et-al-COSPAR-2018,
	title        = {Mars Cave Exploration Concept for Science and Human Exploration},
	author       = {Julie Castillo-Rogez and Abigail Fraeman and Jay Wyatt and Steve Chien and Sebastian Herzig and Jay Gao and Martina Troesch and Tiago Vaquero and Joseph Lazio},
	year         = 2018,
	month        = {July},
	booktitle    = {The 42nd Committee on Space Research (COSPAR) Scientific Assembly 2018},
	address      = {Pasadena, California, USA},
	url          = {https://www.cospar-assembly.org/user/download.php?id=21600\&type=abstract\&section=congressbrowser},
	project      = {CaveRovers},
	todo         = {clearance, url}
}

@inproceedings{branch_intex2018_front,
	title        = {Planning and Execution for Front Delineation and Tracking with Multiple Underwater Vehicles},
	author       = {A. Branch and M. M. Flexas and B. Claus and A. F. Thompson and E. B. Clark and Y. Zhang and J. C. Kinsey and S. Chien and D. M. Fratantoni and B. Hobson and B. Kieft and F. P. Chavez},
	year         = 2018,
	month        = {June},
	booktitle    = {Workshop on Integrated Planning, Acting and Execution, International Conference on Automated Planning and Scheduling (ICAPS INTEX 2018)},
	address      = {Delft, Netherlands},
	url          = {https://ai.jpl.nasa.gov/public/papers/branch-intex2018-front.pdf},
	abstract     = {This work describes a planning architecture for a heterogeneous fleet of marine assets as well as a method for detecting and tracking ocean fronts using multiple autonomous underwater vehicles. Multiple vehicles --- equally-spaced along the expected frontal boundary --- complete near parallel transects orthogonal to the front. Lateral gradients are used to determine the location of the front crossing from each individual vehicle transect by detecting a change in the observed water property. Adaptive control of the vehicles ensure they remain perpendicular to the estimated frontal boundary as it evolves over time. This method was demonstrated in several experiment periods totaling weeks, in and around Monterey Bay, California in May and June of 2017. We discuss the challenges associated with the implementation of the planning system. We show the capability of this method for repeated sampling across a dynamic two-dimensional ocean front using a fleet of three types of platforms: short-range Iver AUVs, Tethys-Class Long-Range AUVs, and Seagliders. This method extends to tracking gradients of different properties using a variety of vehicles.},
	clearance    = {CL\#18-2730},
	project      = {keck\_marine}
}

This work describes a planning architecture for a heterogeneous fleet of marine assets as well as a method for detecting and tracking ocean fronts using multiple autonomous underwater vehicles. Multiple vehicles — equally-spaced along the expected frontal boundary — complete near parallel transects orthogonal to the front. Lateral gradients are used to determine the location of the front crossing from each individual vehicle transect by detecting a change in the observed water property. Adaptive control of the vehicles ensure they remain perpendicular to the estimated frontal boundary as it evolves over time. This method was demonstrated in several experiment periods totaling weeks, in and around Monterey Bay, California in May and June of 2017. We discuss the challenges associated with the implementation of the planning system. We show the capability of this method for repeated sampling across a dynamic two-dimensional ocean front using a fleet of three types of platforms: short-range Iver AUVs, Tethys-Class Long-Range AUVs, and Seagliders. This method extends to tracking gradients of different properties using a variety of vehicles.

@inproceedings{branch_planrob2018_hydrothermal,
	title        = {Autonomous Nested Search for Hydrothermal Venting},
	author       = {A. Branch and G. Xu and M. V. Jakuba and C. R. German and S. Chien and J. C. Kinsey and A. D. Bowen and K. P. Hand and J. S. Seewald},
	year         = 2018,
	month        = {June},
	booktitle    = {Workshop on Planning and Robotics, International Conference on Automated Planning and Scheduling (ICAPS PlanRob 2018)},
	address      = {Delft, Netherlands},
	url          = {https://ai.jpl.nasa.gov/public/papers/branch-planrob2018-hydrothermal.pdf},
	abstract     = {Ocean Worlds represent one of the best chances for the discovery of extra-terrestrial life within our own solar system. Liquid oceans are thought to exist on these celestial bodies, often encased in a thick icy shell. In order to investigate these oceans, a new mission concept utilizing a submersible craft must be developed. This vehicle would be required to traverse the icy shell and travel hundreds or even thousands of kilometers to survey the ocean below. In doing this, the vehicle might be out of contact for weeks or months at a time, requiring it to autonomously detect, locate, and study features of interest. Hydrothermal venting is one potential target, due to the unique ecosystems it supports on Earth. We have developed an autonomous, nested search strategy to locate sources of hydrothermal venting based on currently used methods. To test this search technique a simulation environment was developed using a hydrothermal plume dispersion simulation and a vehicle model. We show the effectiveness of the search method in this environment.},
	clearance    = {CL\#18-2729},
	project      = {ice\_covered\_oceans}
}

Ocean Worlds represent one of the best chances for the discovery of extra-terrestrial life within our own solar system. Liquid oceans are thought to exist on these celestial bodies, often encased in a thick icy shell. In order to investigate these oceans, a new mission concept utilizing a submersible craft must be developed. This vehicle would be required to traverse the icy shell and travel hundreds or even thousands of kilometers to survey the ocean below. In doing this, the vehicle might be out of contact for weeks or months at a time, requiring it to autonomously detect, locate, and study features of interest. Hydrothermal venting is one potential target, due to the unique ecosystems it supports on Earth. We have developed an autonomous, nested search strategy to locate sources of hydrothermal venting based on currently used methods. To test this search technique a simulation environment was developed using a hydrothermal plume dispersion simulation and a vehicle model. We show the effectiveness of the search method in this environment.

@inproceedings{branch_planrob2018_front,
	title        = {Front Delineation and Tracking with Multiple Underwater Vehicles},
	author       = {A. Branch and M. M. Flexas and B. Claus and A. F. Thompson and E. B. Clark and Y. Zhang and J. C. Kinsey and S. Chien and D. M. Fratantoni and B. Hobson and B. Kieft and F. P. Chavez},
	year         = 2018,
	month        = {June},
	booktitle    = {Workshop on Planning and Robotics, International Conference on Automated Planning and Scheduling (ICAPS PlanRob 2018)},
	address      = {Delft, Netherlands},
	url          = {https://ai.jpl.nasa.gov/public/papers/branch-planrob2018-front.pdf},
	abstract     = {This work describes a method for detecting and tracking ocean fronts using multiple autonomous underwater vehicles. Multiple vehicles --- equally-spaced along the expected frontal boundary --- complete near parallel transects orthogonal to the front. Lateral gradients are used to determine the location of the front crossing from each individual vehicle transect by detecting a change in the observed water property. Adaptive control of the vehicles ensure they remain perpendicular to the estimated front boundary as it evolves over time. This method was demonstrated in and around Monterey Bay, California in May of 2017. We compare the front detection method to previously used methods. We introduce a metric in order to evaluate the adaptive control techniques presented. We show the capability of this method for repeated sampling across a dynamic two-dimensional ocean front using short-range Iver AUVs. This method extends to tracking gradients of different properties using a variety of vehicles.},
	clearance    = {CL\#18-2692},
	project      = {keck\_marine}
}

This work describes a method for detecting and tracking ocean fronts using multiple autonomous underwater vehicles. Multiple vehicles — equally-spaced along the expected frontal boundary — complete near parallel transects orthogonal to the front. Lateral gradients are used to determine the location of the front crossing from each individual vehicle transect by detecting a change in the observed water property. Adaptive control of the vehicles ensure they remain perpendicular to the estimated front boundary as it evolves over time. This method was demonstrated in and around Monterey Bay, California in May of 2017. We compare the front detection method to previously used methods. We introduce a metric in order to evaluate the adaptive control techniques presented. We show the capability of this method for repeated sampling across a dynamic two-dimensional ocean front using short-range Iver AUVs. This method extends to tracking gradients of different properties using a variety of vehicles.

@article{rabideau-chien-galer-et-al-2017,
	title        = {Managing Spacecraft Memory Buffers with Concurrent Data Collection and Downlink},
	author       = {G. Rabideau and S. Chien and M. Galer and F. Nespoli and M. Costa},
	year         = 2017,
	month        = {December},
	journal      = {Journal of Aerospace Information Systems (JAIS)},
	doi          = {http://arc.aiaa.org/doi/abs/10.2514/1.I010544},
	url          = {http://arc.aiaa.org/doi/abs/10.2514/1.I010544},
	abstract     = {Space mission planning/scheduling is determining the set of spacecraft activities to meet mission objectives while respecting mission constraints. One important category of mission constraints is data management. As the spacecraft acquires data via science instruments and engineering telemetry, it must store the data on board until it is able to downlink the data to ground communications stations. Because onboard storage and communication opportunities are often limited, this can be a challenging task. This paper first describes the general problem of onboard memory management for spacecraft that allow concurrent data collection and downlink activities. Then, a fast, intuitive heuristic is presented for solving this problem, and its use on the Rosetta comet rendezvous mission is evaluated. Finally, different local heuristics are compared for a greedy search to a global graph-based solution, measuring performance in terms of runtime and robustness to downlink buffer overflow. The results show that local heuristics can produce solutions that are comparable, and often better than, solutions from a global formulation.},
	clearance    = {CL\#17-4479},
	organization = {AIAA},
	project      = {rosetta}
}

Space mission planning/scheduling is determining the set of spacecraft activities to meet mission objectives while respecting mission constraints. One important category of mission constraints is data management. As the spacecraft acquires data via science instruments and engineering telemetry, it must store the data on board until it is able to downlink the data to ground communications stations. Because onboard storage and communication opportunities are often limited, this can be a challenging task. This paper first describes the general problem of onboard memory management for spacecraft that allow concurrent data collection and downlink activities. Then, a fast, intuitive heuristic is presented for solving this problem, and its use on the Rosetta comet rendezvous mission is evaluated. Finally, different local heuristics are compared for a greedy search to a global graph-based solution, measuring performance in terms of runtime and robustness to downlink buffer overflow. The results show that local heuristics can produce solutions that are comparable, and often better than, solutions from a global formulation.

@article{thompson-chao-chien-et-al-2017,
	title        = {Satellites to Seafloor: Towards Fully Autonomous Ocean Sampling},
	author       = {Andrew F. Thompson and Yi Chao and Steve Chien and James Kinsey and Mar M. Flexas and Andrew Branch and Selina Chu and Martina Troesch and Brian Claus and James Kepper and John Farrara and David Fratantoni},
	year         = 2017,
	month        = {June},
	journal      = {Oceanography},
	volume       = {30 (2)},
	url          = {http://tos.org/oceanography/article/satellites-to-seafloor-toward-fully-autonomous-ocean-sampling},
	abstract     = {Future ocean observing systems will rely heavily on autonomous vehicles to achieve the persistent and heterogeneous measurements needed to understand the ocean's impact on the climate system. The day-to-day maintenance of these arrays will become increasingly challenging if significant human resources, such as manual piloting, are required. For this reason techniques need to be developed that permit autonomous determination of sampling directives based on science goals and responses to in situ remote-sensing, and model-derived information. Techniques that can accommodate large arrays of assets and permit sustained observations of rapidly evolving ocean properties are especially needed for capturing interactions between physical circulation and biogeochemical cycling Here we document the first field program of the Satellites to Seafloor project, designed to enable a closed loop of numerical model prediction vehicle path-planning, in situ path implementation, data collection, and data assimilation for future model predictions. We present results from the first of two field programs carried out in Monterey Bay, California over a period of three months in 2016. While relatively modest in scope this approach provides a step toward an observing array that makes use of multiple information streams to update and improve sampling strategies without human intervention.},
	clearance    = {CL\#17-2890},
	project      = {keck\_marine}
}

Future ocean observing systems will rely heavily on autonomous vehicles to achieve the persistent and heterogeneous measurements needed to understand the ocean's impact on the climate system. The day-to-day maintenance of these arrays will become increasingly challenging if significant human resources, such as manual piloting, are required. For this reason techniques need to be developed that permit autonomous determination of sampling directives based on science goals and responses to in situ remote-sensing, and model-derived information. Techniques that can accommodate large arrays of assets and permit sustained observations of rapidly evolving ocean properties are especially needed for capturing interactions between physical circulation and biogeochemical cycling Here we document the first field program of the Satellites to Seafloor project, designed to enable a closed loop of numerical model prediction vehicle path-planning, in situ path implementation, data collection, and data assimilation for future model predictions. We present results from the first of two field programs carried out in Monterey Bay, California over a period of three months in 2016. While relatively modest in scope this approach provides a step toward an observing array that makes use of multiple information streams to update and improve sampling strategies without human intervention.

@article{francis-estlin-doran-et-al-2017,
	title        = {AEGIS Autonomous Targeting for ChemCam on Mars Science Laboratory: Deployment and Results of Initial Science Team Use},
	author       = {R. Francis and T. Estlin and G. Doran and S. Johnstone and D. Gaines and V. Verma and M. Burl and J. Frydenvang and S. Monta\~{n}o and R. C. Wiens and S. Schaffer and O. Gasnault and L. DeFlores and D. Blaney and B. Bornstein},
	year         = 2017,
	month        = {June},
	journal      = {Science Robotics},
	abstract     = {Limitations on interplanetary communications create operations latencies and slow progress in planetary surface missions, with particular challenges to narrow-field-of-view science instruments requiring precise targeting. The AEGIS (Autonomous Exploration for Gathering Increased Science) autonomous targeting system has been in routine use on NASA's Curiosity Mars rover since May 2016, selecting targets for the ChemCam remote geochemical spectrometer instrument. AEGIS operates in two modes; in autonomous target selection, it identifies geological targets in images from the rover's navigation cameras, choosing for itself targets that match the parameters specified by mission scientists the most, and immediately measures them with ChemCam, without Earth in the loop. In autonomous pointing refinement, the system corrects small pointing errors on the order of a few milliradians in observations targeted by operators on Earth, allowing very small features to be observed reliably on the first attempt. AEGIS consistently recognizes and selects the geological materials requested of it, parsing and interpreting geological scenes in tens to hundreds of seconds with very limited computing resources. Performance in autonomously selecting the most desired target material over the last 2.5 kilometers of driving into previously unexplored terrain exceeds 93 percent (where approximately 24 percent is expected without intelligent targeting), and all observations resulted in a successful geochemical observation. The system has substantially reduced lost time on the mission and markedly increased the pace of data collection with ChemCam. AEGIS autonomy has rapidly been adopted as an exploration tool by the mission scientists and has influenced their strategy for exploring the rover's environment.},
	clearance    = {CL\#17-2702},
	project      = {rover}
}

Limitations on interplanetary communications create operations latencies and slow progress in planetary surface missions, with particular challenges to narrow-field-of-view science instruments requiring precise targeting. The AEGIS (Autonomous Exploration for Gathering Increased Science) autonomous targeting system has been in routine use on NASA's Curiosity Mars rover since May 2016, selecting targets for the ChemCam remote geochemical spectrometer instrument. AEGIS operates in two modes; in autonomous target selection, it identifies geological targets in images from the rover's navigation cameras, choosing for itself targets that match the parameters specified by mission scientists the most, and immediately measures them with ChemCam, without Earth in the loop. In autonomous pointing refinement, the system corrects small pointing errors on the order of a few milliradians in observations targeted by operators on Earth, allowing very small features to be observed reliably on the first attempt. AEGIS consistently recognizes and selects the geological materials requested of it, parsing and interpreting geological scenes in tens to hundreds of seconds with very limited computing resources. Performance in autonomously selecting the most desired target material over the last 2.5 kilometers of driving into previously unexplored terrain exceeds 93 percent (where approximately 24 percent is expected without intelligent targeting), and all observations resulted in a successful geochemical observation. The system has substantially reduced lost time on the mission and markedly increased the pace of data collection with ChemCam. AEGIS autonomy has rapidly been adopted as an exploration tool by the mission scientists and has influenced their strategy for exploring the rover's environment.

@article{chien-wagstaff-2017,
	title        = {Robotic Space Exploration Agents},
	author       = {S. Chien and K. L. Wagstaff},
	year         = 2017,
	month        = {June},
	journal      = {Science Robotics},
	url          = {http://robotics.sciencemag.org/cgi/content/full/2/7/eaan4831?ijkey=ygu9BARoFZfzo\&keytype=ref\&siteid=robotics},
	abstract     = {By making their own exploration decisions, robotic spacecraft can conduct traditional science investigations more efficiently and even achieve otherwise impossible observations, such as responding to a short-lived plume at a comet millions of miles from Earth.},
	clearance    = {CL\#17-2089}
}

By making their own exploration decisions, robotic spacecraft can conduct traditional science investigations more efficiently and even achieve otherwise impossible observations, such as responding to a short-lived plume at a comet millions of miles from Earth.

@article{gao-chien-2017,
	title        = {Review on space robotics: Toward top-level science through space exploration},
	author       = {Y. Gao and S. Chien},
	year         = 2017,
	month        = {June},
	journal      = {Science Robotics},
	abstract     = {Robotics and autonomous systems have been instrumental to space exploration by enabling scientific breakthroughs and by fulfilling human curiosity and ambition to conquer new worlds. We provide an overview of space robotics as a rapidly emerging field, covering basic concepts, definitions, historical context, and evolution. We further present a technical road map of the field for the coming decades, taking into account major challenges and priorities recognized by the international space community. Space robotics represents several key enablers to a wide range of future robotic and crewed space missions as well as opportunities for knowledge and technology transfer to many terrestrial sectors. In the greater humanitarian context, space robotics inspires both current and future generations to exploration and critical study of science, technology, engineering, and mathematics.},
	clearance    = {CL\#17-2439}
}

Robotics and autonomous systems have been instrumental to space exploration by enabling scientific breakthroughs and by fulfilling human curiosity and ambition to conquer new worlds. We provide an overview of space robotics as a rapidly emerging field, covering basic concepts, definitions, historical context, and evolution. We further present a technical road map of the field for the coming decades, taking into account major challenges and priorities recognized by the international space community. Space robotics represents several key enablers to a wide range of future robotic and crewed space missions as well as opportunities for knowledge and technology transfer to many terrestrial sectors. In the greater humanitarian context, space robotics inspires both current and future generations to exploration and critical study of science, technology, engineering, and mathematics.

@inproceedings{wyatt-belov-burleigh-et-al-2017,
	title        = {New Capabilities for Deep Space Robotic Exploration Enabled by Disruption Tolerant Networking},
	author       = {E. J. Wyatt and K. Belov and S. Burleigh and J. Castillo-Rogez and S. Chien and L. Clare and J. Lazio},
	year         = 2017,
	month        = {September},
	booktitle    = {6th International Conference on Space Mission Challenges for Information Technology (SMC-IT 2017)},
	address      = {Alcala de Henares, Spain},
	pages        = {1--6},
	doi          = {10.1109/SMC-IT.2017.8},
	abstract     = {Disruption Tolerant Networking (DTN) is a term that is used both to describe network architectures in space as well as the protocol suite that implements key aspects of this functionality. Now that the core protocols have been defined and have been standardized, it is timely to pursue applying these protocols to enable new types of exploration where coordination among assets must occur without ground intervention. In order to do that, autonomy software applications must be developed to work in concert with the protocol layer to achieve the desired mission objectives. This paper describes key functionality of the protcol suite, autonomy software that is likely most useful in accomplishing mission objectives involving coordination and automated relay of information, mission concepts that could be enabled by space networking, and DTN development status for deep space applications.},
	clearance    = {CL\#17-1063},
	project      = {CaveRovers}
}

Disruption Tolerant Networking (DTN) is a term that is used both to describe network architectures in space as well as the protocol suite that implements key aspects of this functionality. Now that the core protocols have been defined and have been standardized, it is timely to pursue applying these protocols to enable new types of exploration where coordination among assets must occur without ground intervention. In order to do that, autonomy software applications must be developed to work in concert with the protocol layer to achieve the desired mission objectives. This paper describes key functionality of the protcol suite, autonomy software that is likely most useful in accomplishing mission objectives involving coordination and automated relay of information, mission concepts that could be enabled by space networking, and DTN development status for deep space applications.

@inproceedings{branch-troesch-flexas-et-al-2017,
	title        = {Station Keeping with an Autonomous Underwater Glider Using a Predictive Model of Ocean Currents},
	author       = {A. Branch and M. Troesch and M. Flexas and A. Thompson and J. Ferrara and Y. Chao and S. Chien},
	year         = 2017,
	month        = {August},
	booktitle    = {AI in the Oceans and Space Workshop, International Joint Conference on Artificial Intelligence (IJCAI 2017)},
	address      = {Melbourne, Australia},
	url          = {https://ai.jpl.nasa.gov/public/papers/branch-ijcai2017-station.pdf},
	abstract     = {We investigate the use of an autonomous underwater glider as a platform for a virtual mooring. Our approach uses a simple vehicle motion model, a predictive model of ocean currents and a greedy search algorithm in order to simulate possible actions available to the vehicle and select an action to minimize the distance from the target point. Results from a 19 day experiment in October 2016 near Monterey Bay are presented where we test our control algorithm as well as investigate the effect of a glider's dive profile on its ability to act as a virtual mooring.},
	clearance    = {CL\#17-4088},
	project      = {SWOT\_station}
}

We investigate the use of an autonomous underwater glider as a platform for a virtual mooring. Our approach uses a simple vehicle motion model, a predictive model of ocean currents and a greedy search algorithm in order to simulate possible actions available to the vehicle and select an action to minimize the distance from the target point. Results from a 19 day experiment in October 2016 near Monterey Bay are presented where we test our control algorithm as well as investigate the effect of a glider's dive profile on its ability to act as a virtual mooring.

@inproceedings{johnston-wyatt-2017,
	title        = {AI and Autonomy Initiatives for NASA's Deep Space Network (DSN)},
	author       = {M. Johnston and E. J. Wyatt},
	year         = 2017,
	month        = {August},
	booktitle    = {AI in the Oceans and Space Workshop, International Joint Conference on Artificial Intelligence (IJCAI 2017)},
	address      = {Melbourne, Australia},
	url          = {https://ai.jpl.nasa.gov/public/papers/johnston-ijcai2017-network.pdf},
	clearance    = {CL\#17-4024},
	project      = {SSS}
}

@inproceedings{german-hand-mcdermott-et-al-2017,
	title        = {Oases for Life in Ice Covered Oceans},
	author       = {C. R. German and K. P. Hand and J. M. McDermott and J. S. See-wald and J. C. Kinsey and A. D. Bowen and S. Chien and S. R. Schaffer and W. Bach and A. Boetius},
	year         = 2017,
	month        = {April},
	booktitle    = {Astrobiology Science Conference},
	address      = {Mesa, AZ},
	project      = {ice\_covered\_oceans}
}

@inproceedings{hernandez-garza-broschart-et-al-2017,
	title        = {Small Satellite Constellation to enable a lunar radio interferometer},
	author       = {S. Hernandez and D. Garza and S. Broschart and S. Herzig and S. Chien},
	year         = 2017,
	month        = {August},
	booktitle    = {Astrodynamics Specialist Conference, American Astronautical Society},
	address      = {Stevenson, WA},
	clearance    = {CL\#17-1731},
	project      = {relic}
}

@inproceedings{middleton-campbell-ong-et-al-IGARSS-2017,
	title        = {Hyperion: The first Global Orbital Spectrometer, Earth Observing One Satellite (2000-2017)},
	author       = {E. Middleton and P. Campbell and L. Ong and D. Landis and Q. Zhang and C. Neigh and K. F. Huemmrich and S. Ungar and D. Mandl and S. Frye and V. Ly and P. Cappalaere and S. Chien and S. Franks and N. Pollack},
	year         = 2017,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGARSS 2017)},
	address      = {Fort Worth, TX},
	project      = {ase}
}

@inproceedings{gaines-doran-justice-et-al-IWPSS-2017,
	title        = {A Case Study of Productivity Challenges in Mars Science Laboratory Operations},
	author       = {Daniel Gaines and Gary Doran and Heather Justice and Gregg Rabideau and Steve Schaffer and Vandana Verma and Kiri Wagstaff and Ashwin Vasavada and William Huffman and Robert Anderson and Ryan Mackey and Tara Estlin},
	year         = 2017,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2017)},
	address      = {Pittsburgh, PA},
	url          = {https://ai.jpl.nasa.gov/public/papers/gaines-iwpss2017-case.pdf},
	clearance    = {CL\#17-2203},
	project      = {srr}
}

@inproceedings{gaines-rabideau-doran-et-al-IWPSS-2017,
	title        = {Expressing Campaign Intent to Increase Productivity of Planetary Exploration Rovers},
	author       = {Daniel Gaines and Gregg Rabideau and Gary Doran and Steve Schaffer and Vincent Wong and Ashwin Vasavada and Robert Anderson},
	year         = 2017,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2017)},
	address      = {Pittsburgh, PA},
	url          = {https://ai.jpl.nasa.gov/public/papers/gaines-iwpss2017-expressing.pdf},
	clearance    = {CL\#17-2487},
	project      = {srr}
}

@inproceedings{lewellen-davies-byon-et-al-IWPSS-2017,
	title        = {A Hybrid Traveling Salesman Problem - Squeaky Wheel Optimization Planner for Earth Observational Scheduling},
	author       = {Garrett Lewellen and Christopher Davies and Amos Byon and Russell Knight and Elly Shao and Daniel Tran and Michael Trowbridge},
	year         = 2017,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2017)},
	address      = {Pittsburgh, PA},
	url          = {https://ai.jpl.nasa.gov/public/papers/lewellen-iwpss2017-hybrid.pdf},
	clearance    = {CL\#17-2697},
	project      = {EagleEye}
}

@inproceedings{lewellen-trowbridge-shao-et-al-IWPSS-2017,
	title        = {Estimating Time to Image Areas with Steerable 2D Framing Sensors},
	author       = {Garrett Lewellen and Michael Trowbridge and Elly Shao and Christopher Davies and Russell Knight},
	year         = 2017,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2017)},
	address      = {Pittsburgh, PA},
	url          = {https://ai.jpl.nasa.gov/public/papers/lewellen-iwpss2017-estimating.pdf},
	clearance    = {CL\#17-2530},
	project      = {EagleEye}
}

@inproceedings{rabideau-benowitz-IWPSS-2017,
	title        = {Prototyping an Onboard Scheduler for the Mars 2020 Rover},
	author       = {Gregg Rabideau and Ed Benowitz},
	year         = 2017,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2017)},
	address      = {Pittsburgh, PA},
	url          = {https://ai.jpl.nasa.gov/public/papers/rabideau-iwpss2017-prototyping.pdf},
	clearance    = {CL\#17-2272},
	project      = {rover, m2020}
}

@inproceedings{pinover-johnston-lee-IWPSS-2017,
	title        = {Optimizing SmallSat Scheduling for NASA's Deep Space Network},
	author       = {Kaley Pinover and Mark D. Johnston and Carlyn Lee},
	year         = 2017,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2017)},
	address      = {Pittsburgh, PA},
	url          = {https://ai.jpl.nasa.gov/public/papers/pinover-iwpss2017-optimizing.pdf},
	clearance    = {CL\#17-2524},
	project      = {SSS}
}

@inproceedings{troesch-chien-ferguson-IWPSS-2017,
	title        = {Using Automated Scheduling to Assess Coverage for Europa Clipper and JUpiter ICy moons Explorer},
	author       = {Martina Troesch and Steve Chien and Eric Ferguson},
	year         = 2017,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2017)},
	address      = {Pittsburgh, PA},
	url          = {https://ai.jpl.nasa.gov/public/papers/troesch-iwpss2017-juice.pdf},
	abstract     = {We describe the use of an automated scheduling system to assess mapping coverage for space missions. This tool uses a gridded representation of target body surface regions of interest to calculate surface coverage based on science objectives, such as distance to target and lighting conditions, and spacecraft constraints, such as data volume The science objectives and constraints are modelled in a greedy optimization, scheduling algorithm that generates observation schedules. We demon- strate the application of this tool to evaluating achievement of mission science criteria for the planned Europa Clipper mission and the JUpiter ICy moons Explorer (JUICE).},
	clearance    = {CL\#17-2618},
	project      = {clasp}
}

We describe the use of an automated scheduling system to assess mapping coverage for space missions. This tool uses a gridded representation of target body surface regions of interest to calculate surface coverage based on science objectives, such as distance to target and lighting conditions, and spacecraft constraints, such as data volume The science objectives and constraints are modelled in a greedy optimization, scheduling algorithm that generates observation schedules. We demon- strate the application of this tool to evaluating achievement of mission science criteria for the planned Europa Clipper mission and the JUpiter ICy moons Explorer (JUICE).

@inproceedings{trowbridge-doubleday-IWPSS-2017,
	title        = {Intermediate Fidelity Solid State Recorder Modeling for NISAR},
	author       = {Michael Trowbridge and Joshua R. Doubleday},
	year         = 2017,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2017)},
	address      = {Pittsburgh, PA},
	url          = {https://ai.jpl.nasa.gov/public/papers/trowbridge-iwpss2017-intermediate.pdf},
	clearance    = {CL\#17-2537},
	project      = {clasp}
}

@inproceedings{verma-gaines-rabideau-et-al-IWPSS-2017,
	title        = {Autonomous Science Restart for the Planned Europa Mission with Lightweight Planning and Execution},
	author       = {Vandi Verma and Dan Gaines and Gregg Rabideau and Steve Schaffer and Rajeev Joshi},
	year         = 2017,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2017)},
	address      = {Pittsburgh, PA},
	url          = {https://ai.jpl.nasa.gov/public/papers/verma-iwpss2017-autonomous.pdf},
	clearance    = {CL\#17-2299},
	project      = {mexec}
}

@inproceedings{castillo-rogez-fraeman-herzig-et-al-2017,
	title        = {Benefits Offered by a Network of CubeSat-Class Rovers for Planetary Cave Exploration},
	author       = {A. Fraeman and E. J. Wyatt and J. Lazio and J. Castillo-Rogez and S. Chien and S. Herzig and J. Gao and F. Alibay and K. Belov and D. Ellison and H. Kim and M. Troesch and W. Walsh},
	year         = 2017,
	month        = {August},
	booktitle    = {Low Cost Planetary Missions Workshop},
	address      = {Pasadena, CA},
	abstract     = {The past decade has seen increasing interest in planetary cave exploration. Dozens of skylights have been found on Mars by the Mars Reconnaissance Orbiter and hundreds on the Moon from the Lunar Reconnaissance Orbiter. Pictures of lunar caves display stratification that provide an in-place record of the Moon's magmatic evolutionary history Martian caves may represent astrobiological sites that have offered shelters for past and possibly current life, and could serve as volatile traps that record Mars' climate evolution. Caves on both the Moon and Mars are exciting prospective habitats for future crewed missions because they likely offer radiation protection and a stable temperature environment Robotic planetary cave exploration would be challenging for a multitude of reasons.  Uncertainty in the target terrain requires robust mobility systems Communication between assets within a cave and to the surface would be difficult due to the chaotic signal propagation.  The absence of sunlight requires all power needed for instrument operations, data processing and communication to be brought into the cave We focus on utilizing a variety of assets to mitigate challenges related to communication and instrument operations while optimizing data acquisition and science data retrieval via an organized network We developed a set of science objectives and requirements for a reconnaissance mission concept to a Martian cave focused on mapping the cave geometry, composition, and measuring the temporal and spatial variability of cave environmental conditions (temperature, radiation and humidity). The proposed payload leverages recent or emerging miniaturized instruments developed for CubeSat-class deep space missions. The mild radiation and thermal environment expected in caves justifies the use of CubeSat-class instruments while the multiple assets provide redundancy We studied heterogeneous architectures where responsibilities (science telecom) are distributed among assets.  The conceptual DuAxel rover is assumed to be the carrier and telecom relay to the Martian orbiters and may also offer a computing node to support the smaller assets' semi-autonomous navigation inside the cave. Our study includes trade-offs between potential power sources, homogeneity and heterogeneity of the assets, as well as distribution of science instruments to optimize cost and achieved benefit.},
	project      = {CaveRovers}
}

The past decade has seen increasing interest in planetary cave exploration. Dozens of skylights have been found on Mars by the Mars Reconnaissance Orbiter and hundreds on the Moon from the Lunar Reconnaissance Orbiter. Pictures of lunar caves display stratification that provide an in-place record of the Moon's magmatic evolutionary history Martian caves may represent astrobiological sites that have offered shelters for past and possibly current life, and could serve as volatile traps that record Mars' climate evolution. Caves on both the Moon and Mars are exciting prospective habitats for future crewed missions because they likely offer radiation protection and a stable temperature environment Robotic planetary cave exploration would be challenging for a multitude of reasons. Uncertainty in the target terrain requires robust mobility systems Communication between assets within a cave and to the surface would be difficult due to the chaotic signal propagation. The absence of sunlight requires all power needed for instrument operations, data processing and communication to be brought into the cave We focus on utilizing a variety of assets to mitigate challenges related to communication and instrument operations while optimizing data acquisition and science data retrieval via an organized network We developed a set of science objectives and requirements for a reconnaissance mission concept to a Martian cave focused on mapping the cave geometry, composition, and measuring the temporal and spatial variability of cave environmental conditions (temperature, radiation and humidity). The proposed payload leverages recent or emerging miniaturized instruments developed for CubeSat-class deep space missions. The mild radiation and thermal environment expected in caves justifies the use of CubeSat-class instruments while the multiple assets provide redundancy We studied heterogeneous architectures where responsibilities (science telecom) are distributed among assets. The conceptual DuAxel rover is assumed to be the carrier and telecom relay to the Martian orbiters and may also offer a computing node to support the smaller assets' semi-autonomous navigation inside the cave. Our study includes trade-offs between potential power sources, homogeneity and heterogeneity of the assets, as well as distribution of science instruments to optimize cost and achieved benefit.

@inproceedings{wyatt-castillo-rogez-chien-et-al-2017,
	title        = {Novel Planetary Science Enabled by Networked Constellations},
	author       = {E. J. Wyatt and J. C. Castillo-Rogez and S. A. Chien and L. P. Clare and A. A. Fraeman and S. J. Herzig and I. A. Nesnas and J. Lazio},
	year         = 2017,
	month        = {February},
	booktitle    = {Planetary Science Vision 2050 Workshop},
	address      = {NASA HQ, Washington, D. C.},
	clearance    = {CL\#16-6171},
	project      = {relic CaveRovers}
}

@inproceedings{wolf-rahmani-croix-et-al-2017,
	title        = {CARACaS Multi-Agent Maritime Autonomy for Unmanned Surface Vehicles in the Swarm II Harbor Patrol Demonstration},
	author       = {Michael T. Wolf and Amir Rahmani and Jean-Pierre de la Croix and Gail Woodward and Vander Hook, Joshua and David Brown and Steve Schaffer and Christopher Lim and Philip Bailey and Scott Tepsuporn and Marc Pomerantz and Viet Nguyen and Cristina Sorice and Michael Sandoval},
	year         = 2017,
	month        = {April},
	booktitle    = {SPIE 10195},
	address      = {Anaheim, CA},
	doi          = {10.1117/12.2262067},
	url          = {http://dx.doi.org/10.1117/12.2262067},
	clearance    = {CL\#17-1581}
}

@inproceedings{chien-hyspiri-symp-2017,
	title        = {Results from ALI and OLI Multispectral Band Synthesis, Machine Learning Classificaion, and Salience onboard the Earth Observing One Mission},
	author       = {S. Chien and M. Troesch and D. Tran and S. Schaffer and D. R. Thompson and R. Green and K. Wagstaff and A. Altinok and U. Rebbapragada and D. Mandl and E. Middleton and S. Ungar and L. Ong and P. Campbell and B. Trout and J. Hengemihle},
	year         = 2017,
	month        = {October},
	booktitle    = {Workshop on: Global Earth Imaging Spectroscopy and Thermal Infrared Measurements (HyspIRI) NASA Decadal Survey Mission Concept},
	address      = {Pasadena, CA},
	clearance    = {CL\#17-5314},
	project      = {HyspIRI}
}

@misc{chien-thompson-castillo-rogez-et-al-2016,
	title        = {Agile Science - A new paradigm for Missions and Flight Software},
	author       = {S. Chien and D. R. Thompson and J. Castillo-Rogez and G. Rabideau and B. Bue and R. Knight and S. Schaffer and W. Huffman and K. L. Wagstaff},
	year         = 2016,
	month        = {December},
	address      = {Pasadena, CA},
	clearance    = {CL\#17-1392},
	howpublished = {Keynote at the Flight Software Workshop, Pasadena, CA},
	project      = {AgileScience}
}

@article{chien-doubleday-thompson-et-al-2016,
	title        = {Onboard Autonomy on the Intelligent Payload EXperiment (IPEX) CubeSat Mission},
	author       = {S. Chien and J. Doubleday and D. R. Thompson and K. Wagstaff and J. Bellardo and C. Francis and E. Baumgarten and A. Williams and E. Yee and E. Stanton and J. Piug-Suari},
	year         = 2016,
	month        = {April},
	journal      = {Journal of Aerospace Information Systems (JAIS)},
	abstract     = {The Intelligent Payload Experiment (IPEX) is a CubeSat that flew from December 2013 through January 2015 and validated autonomous operations for onboard instrument processing and product generation for the Intelligent Payload Module of the Hyperspectral Infrared Imager (HyspIRI) mission concept. IPEX used several artificial intelligence technologies. First, IPEX used machine learning and computer vision in its onboard processing. IPEX used machine-learned random decision forests to classify images onboard (to downlink classification maps) and computer vision visual salience software to extract interesting regions for downlink in acquired imagery. Second, IPEX flew the Continuous Activity Scheduler Planner Execution and Re-planner AI planner/scheduler onboard to enable IPEX operations to replan to best use spacecraft resources such as file storage, CPU, power, and downlink bandwidth. First, the ground and flight operations concept for proposed HyspIRI IPM operations is described, followed by a description the ground and flight operations concept used for the IPEX mission to validate key elements of automation for the proposed HyspIRI IPM operations concept. The use of machine learning, computer vision, and automated planning onboard IPEX is also described. The results from the over-1-year flight of the IPEX mission are reported.},
	clearance    = {CL\#16-0521},
	organization = {AIAA},
	project      = {ipex}
}

The Intelligent Payload Experiment (IPEX) is a CubeSat that flew from December 2013 through January 2015 and validated autonomous operations for onboard instrument processing and product generation for the Intelligent Payload Module of the Hyperspectral Infrared Imager (HyspIRI) mission concept. IPEX used several artificial intelligence technologies. First, IPEX used machine learning and computer vision in its onboard processing. IPEX used machine-learned random decision forests to classify images onboard (to downlink classification maps) and computer vision visual salience software to extract interesting regions for downlink in acquired imagery. Second, IPEX flew the Continuous Activity Scheduler Planner Execution and Re-planner AI planner/scheduler onboard to enable IPEX operations to replan to best use spacecraft resources such as file storage, CPU, power, and downlink bandwidth. First, the ground and flight operations concept for proposed HyspIRI IPM operations is described, followed by a description the ground and flight operations concept used for the IPEX mission to validate key elements of automation for the proposed HyspIRI IPM operations concept. The use of machine learning, computer vision, and automated planning onboard IPEX is also described. The results from the over-1-year flight of the IPEX mission are reported.

@article{gaines-doran-justice-et-al-2016,
	title        = {Productivity challenges for Mars rover operations: A case study of Mars Science Laboratory operations.},
	author       = {D. Gaines and G. Doran and H. Justice and G. Rabideau and S. Schaffer and V. Verma and K. Wagstaff and V. Vasavada and W. Huffman and R. Anderson and R. Mackey and T. Estlin},
	year         = 2016,
	month        = {January},
	journal      = {Technical Report D-97908, Jet Propulsion Laboratory},
	url          = {https://ai.jpl.nasa.gov/public/papers/gaines-report-roverProductivity.pdf},
	clearance    = {CL\#16-3481},
	organization = {Jet Propulsion Laboratory},
	project      = {srr}
}

@inproceedings{troesch-chien-chao-et-al-ICAPS-2016,
	title        = {Planning and Control of Marine Floats in the Presence of Dynamic, Uncertain Currents},
	author       = {M. Troesch and S. Chien and Y. Chao and J. Farrara},
	year         = 2016,
	month        = {June},
	booktitle    = {International Conference on Automated Planning and Scheduling (ICAPS 2016)},
	address      = {London, UK},
	url          = {https://ai.jpl.nasa.gov/public/papers/troesch-icaps2016-floats.pdf},
	abstract     = {We address the control of a vertically profiling float using ocean-model-based  predictions  of  future  currents. While these problems are in reality continuous control problems, we solve them by searching a discrete space of future actions. Additionally, while the environment is a continuous space, the ocean model we use is a discrete cell-based model. We show that even with an imperfect model of ocean currents, planning in the ocean current model  can  significantly  improve  results  for  a  specific problem of controlling a vertically profiling float when a trade-off between remaining at the same location as a virtual mooring and collecting more data with more profiles is available. We also present anecdotal data from an April 2015 deployment of EM-APEX floats.},
	clearance    = {CL\#16-0899},
	project      = {apf}
}

We address the control of a vertically profiling float using ocean-model-based predictions of future currents. While these problems are in reality continuous control problems, we solve them by searching a discrete space of future actions. Additionally, while the environment is a continuous space, the ocean model we use is a discrete cell-based model. We show that even with an imperfect model of ocean currents, planning in the ocean current model can significantly improve results for a specific problem of controlling a vertically profiling float when a trade-off between remaining at the same location as a virtual mooring and collecting more data with more profiles is available. We also present anecdotal data from an April 2015 deployment of EM-APEX floats.

@inproceedings{costa-perez-ayucar-almeida-et-al-SpaceOps-2016,
	title        = {Rosetta: Rapid Science Operations for a Dynamic Comet},
	author       = {M. Costa and M. Perez-Ayucar and M. Almeida and M. Ashman and R. Hoofs and S. Chien and J. Beteta and M. Kueppers},
	year         = 2016,
	month        = {May},
	booktitle    = {International Conference On Space Operations (SpaceOps 2016)},
	address      = {Daejeon, Korea},
	project      = {rosetta}
}

@inproceedings{perez-ayucar-almeida-ashman-et-al-SpaceOps-2016,
	title        = {Science Data Volume management for the Rosetta spacecraft},
	author       = {M. Perez-Ayucar and M. Almeida and M. Ashman and M. Costa and J. Garc\'{\i}a and R. M.T. Hoofs and M. Kueppers and D. Merritt and J. Marin and F. Nespoli and E. Sanchez and S. Chien and G. Rabideau},
	year         = 2016,
	month        = {May},
	booktitle    = {International Conference On Space Operations (SpaceOps 2016)},
	address      = {Daejeon, Korea},
	project      = {rosetta}
}

@inproceedings{lightholder-thompson-huffman-et-al-2016,
	title        = {Onboard Science Techniques to Optimize Science Data Retrieval from Small Spacecraft},
	author       = {J. Lightholder and D. R. Thompson and W. Huffman and J. Boland and S. Chien and J. Castillo-Rogez},
	year         = 2016,
	month        = {October},
	booktitle    = {International Workshop on Instrumentation for Planetary Missions},
	address      = {Pasadena, CA},
	clearance    = {CL\#16-4852},
	project      = {AgileScience}
}

@inproceedings{wagstaff-altinok-bue-et-al-2016,
	title        = {Instrument Science Autonomy for Orbital and Flyby Planetary Missions},
	author       = {K. L. Wagstaff and A. Altinok and B. Bue and S. A. Chien and L. Mandrake},
	year         = 2016,
	month        = {October},
	booktitle    = {International Workshop on Instrumentation for Planetary Missions},
	address      = {Pasadena, CA},
	clearance    = {CL\#16-4998},
	project      = {AgileScience}
}

@inproceedings{lazio-castillo-rogez-belov-et-al-2016,
	title        = {Constellations of Cubesats},
	author       = {T. J. Lazio and J. Castillo-Rogez and K. Belov and S. Broschart and S. Chien and L. Clare and C. Duncan and J. Sauder and T. Sweetser and M. Thomson and E. J. Wyatt},
	year         = 2016,
	month        = {April},
	booktitle    = {Interplanetary Small Satellite Conference},
	address      = {Pasadena, CA},
	clearance    = {CL\#16-1649},
	project      = {relic}
}

@inproceedings{doubleday-2016,
	title        = {Three Petabytes or Bust: Planning Science Observations for NISAR},
	author       = {Joshua R. Doubleday},
	year         = 2016,
	month        = {May},
	booktitle    = {SPIE 9881},
	address      = {New Delhi, India},
	doi          = {10.1117/12.2223893},
	url          = {https://ai.jpl.nasa.gov/public/papers/doubleday-spie2016-petabytes.pdf},
	clearance    = {CL\#16-1602},
	project      = {clasp}
}

@inproceedings{gaines-anderson-doran-et-al-ICAPS-2016,
	title        = {Productivity Challenges for Mars Rover Operations},
	author       = {Daniel Gaines and Robert Anderson and Gary Doran and William Huffman and Heather Justice and Ryan Mackey and Gregg Rabideau and Ashwin Vasavada and Vandana Verma and Tara Estlin and Lorraine Fesq and Michel Ingham and Mark Maimone and Issa Nesnas},
	year         = 2016,
	month        = {June},
	booktitle    = {Workshop on Planning and Robotics, International Conference on Automated Planning and Scheduling (PlanRob, ICAPS 2016)},
	address      = {London, UK},
	url          = {https://ai.jpl.nasa.gov/public/papers/gaines-icaps2016-rover.pdf},
	clearance    = {CL\#16-2123},
	project      = {srr}
}

@inproceedings{troesch-chien-chao-et-al-ICAPS-2016-june,
	title        = {Using a Model of Ocean Currents to Control the Position of Vertically Profiling Marine Floats},
	author       = {M. Troesch and S. Chien and Y. Chao and J. Farrara},
	year         = 2016,
	month        = {June},
	booktitle    = {Workshop on Planning and Robotics, International Conference on Automated Planning and Scheduling (PlanRob, ICAPS 2016)},
	address      = {London, UK},
	url          = {https://ai.jpl.nasa.gov/public/papers/troesch-icaps2016-model.pdf},
	abstract     = {We describe a methodology for control of vertically profiling floats that uses an imperfect predictive model of ocean currents. In this approach, the floats have control only over their depth. We combine this control authority with an imperfect model of ocean currents to force the floats to maintain position. First, we study the impact of model accuracy on this ability to station keep (e.g. maintain  X-Y  position)  using  simulated  planning  and nature models. In this study, we examine the impact of batch versus continuous planning. In batch planning the float depth plan is derived for an extended period of time and then executed open loop. In continuous planning the depth plan is updated with the actual position and the remainder of the plan re-planned based on the new information. In these simulation results, we show that (a) active control can significantly improve station keeping with even an imperfect predictive model and (b) continuous planning can mitigate the impact of model inaccuracy. Second, we study the effect of using heuristic path completion estimators in search. In general, using a more conservative estimator increases search quality but commensurately increases the amount of search and therefore  computation  time.  Third,  we  discuss  results from an April 2015 deployment int he Pacific Ocean and compare model accuracy and float control performance.},
	clearance    = {CL\#16-2240},
	project      = {apf}
}

We describe a methodology for control of vertically profiling floats that uses an imperfect predictive model of ocean currents. In this approach, the floats have control only over their depth. We combine this control authority with an imperfect model of ocean currents to force the floats to maintain position. First, we study the impact of model accuracy on this ability to station keep (e.g. maintain X-Y position) using simulated planning and nature models. In this study, we examine the impact of batch versus continuous planning. In batch planning the float depth plan is derived for an extended period of time and then executed open loop. In continuous planning the depth plan is updated with the actual position and the remainder of the plan re-planned based on the new information. In these simulation results, we show that (a) active control can significantly improve station keeping with even an imperfect predictive model and (b) continuous planning can mitigate the impact of model inaccuracy. Second, we study the effect of using heuristic path completion estimators in search. In general, using a more conservative estimator increases search quality but commensurately increases the amount of search and therefore computation time. Third, we discuss results from an April 2015 deployment int he Pacific Ocean and compare model accuracy and float control performance.

@inproceedings{branch-troesch-chu-et-al-ICAPS-2016,
	title        = {Evaluating Scientific Coverage Strategies for A Heterogeneous Fleet of Marine Assets Using a Predictive Model of Ocean Currents},
	author       = {A. Branch and M. Troesch and S. Chu and S. Chien and Y. Chao and J. Farrara and A. Thompson},
	year         = 2016,
	month        = {June},
	booktitle    = {Workshop on Scheduling and Planning Applications, International Conference on Automated Planning and Scheduling (SPARK, ICAPS 2016)},
	address      = {London, UK},
	url          = {https://ai.jpl.nasa.gov/public/papers/branch-icaps2016-fleet.pdf},
	abstract     = {Planning for marine asset deployments is a challenging task. Determining the location to where the assets will be deployed involves considerations of (1) location, extent, and evolution of the science phenomena being studied; (2) deployment logistics (distances and costs), and (3) ability of the available vehicles to acquire the measurements desired by science. This  paper  describes  the  use  of  mission  planning  tools  to evaluate  science  coverage  capability  for  planned  deploy- ments.    In  this  approach, designed  coverage  strategies  are evaluated  against  ocean  model data  to  see  how  they  would perform in a range of locations.  Feedback from these runs is then  used  to  refine  the  coverage  strategies  to  perform  more robustly  in  the  presence  of  a  wider  range  of  ocean  current settings.},
	clearance    = {CL\#16-1869},
	project      = {keck\_marine}
}

Planning for marine asset deployments is a challenging task. Determining the location to where the assets will be deployed involves considerations of (1) location, extent, and evolution of the science phenomena being studied; (2) deployment logistics (distances and costs), and (3) ability of the available vehicles to acquire the measurements desired by science. This paper describes the use of mission planning tools to evaluate science coverage capability for planned deploy- ments. In this approach, designed coverage strategies are evaluated against ocean model data to see how they would perform in a range of locations. Feedback from these runs is then used to refine the coverage strategies to perform more robustly in the presence of a wider range of ocean current settings.

@inproceedings{shouraboura-johnston-tran-ICAPS-2016,
	title        = {Prioritization and Oversubscribed Scheduling for NASA's Deep Space Network},
	author       = {Caroline Shouraboura and Mark D. Johnston and Daniel Tran},
	year         = 2016,
	month        = {June},
	booktitle    = {Workshop on Scheduling and Planning Applications, International Conference on Automated Planning and Scheduling (SPARK, ICAPS 2016)},
	address      = {London, UK},
	url          = {https://ai.jpl.nasa.gov/public/papers/shouraboura-icaps2016-dsn.pdf},
	clearance    = {CL\#16-2217},
	project      = {SSS}
}

@inproceedings{rabideau-chien-nespoli-et-al-ICAPS-2016,
	title        = {Managing Spacecraft Memory Buffers with Overlapping Store and Dump Operations},
	author       = {G. Rabideau and S. Chien and F. Nespoli and M. Costa},
	year         = 2016,
	month        = {June},
	booktitle    = {Workshop on Scheduling and Planning Applications, International Conference on Automated Planning and Scheduling (SPARK, ICAPS 2016)},
	address      = {London, UK},
	url          = {https://ai.jpl.nasa.gov/public/papers/rabideau-icaps2016-memory.pdf},
	clearance    = {CL\#16-1935},
	project      = {rosetta}
}

@inproceedings{schaffer-branch-chien-et-al-ICAPS-2016,
	title        = {Using Operations Scheduling to Optimize Constellation Design},
	author       = {S. Schaffer and A. Branch and S. Chien and S. Broschart and S. Hernandez and K. Belov and J. Lazio and L. Clare and P. Tsao and J. Castillo-Rogez and E. J. Wyatt},
	year         = 2016,
	month        = {June},
	booktitle    = {Workshop on Scheduling and Planning Applications, International Conference on Automated Planning and Scheduling (SPARK, ICAPS 2016)},
	address      = {London, UK},
	url          = {https://ai.jpl.nasa.gov/public/papers/schaffer-icaps2016-constellation.pdf},
	clearance    = {CL\#16-2181},
	project      = {relic}
}

@inproceedings{chien-hyspiri-symp-2016,
	title        = {Flight Validation of Instrument Processing Onboard Earth Observing One: A Status Report},
	author       = {S. Chien and M. Troesch and D. Tran and S. Schaffer and D. R. Thompson and R. Green and K. Wagstaff and A. Altinok and U. Rebbapragada and D. Mandl and E. Middleton and S. Ungar and L. Ong and P. Campbell and B. Trout and J. Hengemihle},
	year         = 2016,
	month        = {October},
	booktitle    = {Workshop on: Global Earth Imaging Spectroscopy and Thermal Infrared Measurements (HyspIRI) NASA Decadal Survey Mission Concept},
	address      = {Pasadena, CA},
	clearance    = {CL\#16-4782},
	project      = {HyspIRI}
}

@misc{chien-rabideau-tran-et-al-IJCAI-2015,
	title        = {Activity-based Scheduling of Science Campaigns for the Rosetta Orbiter},
	author       = {Steve Chien and Gregg Rabideau and Daniel Tran and Joshua Doubleday Thompson and Federico Nespoli and Miguel Perez Ayucar and Marc Costa Sitje and Claire Vallat and Bernhard Geiger and Nico Altobelli and Manuel Fernandez and Fran Vallejo and Rafael Andres and Michael Kueppers},
	year         = 2015,
	month        = {July},
	address      = {Buenos Aires, Argentina},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-ijcai2015-activity.pdf},
	clearance    = {CL\#15-1747},
	howpublished = {Invited Talk, in Proceedings of International Joint Conference on Artificial Intelligence (IJCAI 2015), Buenos Aires, Argentina},
	project      = {rosetta}
}

@article{thompson-altinok-bornstein-et-al-2015,
	title        = {Onboard Machine Learning Classification of Images by a Cubesat in Earth Orbit},
	author       = {D. R. Thompson and A. Altinok and B. Bornstein and S. A. Chien and J. Doubleday and J. Bellardo and K. L. Wagstaff},
	year         = 2015,
	month        = {June},
	journal      = {AI Matters},
	volume       = {1 (4)},
	pages        = {38--40},
	url          = {http://doi.acm.org/10.1145/2757001.2757010},
	clearance    = {CL\#15-2017},
	project      = {ipex}
}

@article{fuchs-thompson-bue-et-al-2015,
	title        = {Enhanced Flyby Science with Onboard Computer Vision: Tracking and Surface Feature Detection at Small Bodies},
	author       = {T. J. Fuchs and D. R. Thompson and B. D. Bue and J. Castillo-Rogez and S. A. Chien and D. Gharibian and K. L. Wagstaff},
	year         = 2015,
	month        = {September},
	journal      = {Earth and Space Science},
	volume       = {2 (10)},
	clearance    = {CL\#15-1459},
	project      = {AgileScience}
}

@article{altinok-thompson-bornstein-et-al-2015,
	title        = {Real-Time Orbital Image Analysis Using Decision Forests, with a Deployment Onboard the IPEX Spacecraft},
	author       = {A. Altinok and D. R. Thompson and B. Bornstein and S. A. Chien and J. Doubleday and J. Bellardo},
	year         = 2015,
	month        = {September},
	journal      = {Journal of Field Robotics (JFR)},
	volume       = {33 (2)},
	clearance    = {CL\#15-0767},
	project      = {ipex}
}

@inproceedings{norton-babuscia-bellardo-et-al-2015,
	title        = {Advancing Science and Technology via SmallSat Systems: From Earth to Beyond LEO},
	author       = {C. Norton and A. Babuscia and J. Bellardo and J. Castillo-Rogez and S. Chien and J. Cutler and C. Duncan and R. Hodges and S. Katz and J. Flynn and A. Klesh and B. Lim and C. Marrese-Reading and N. Palmer and E. Pe},
	year         = 2015,
	month        = {September},
	booktitle    = {European CubeSat Symposium},
	address      = {Liege, Belgium},
	clearance    = {CL\#15-3791},
	project      = {ipex}
}

@inproceedings{doubleday-chien-norton-et-al-IGARSS-2015,
	title        = {Autonomy for Remote Sensing - Experiences from the IPEX Cubesat},
	author       = {Joshua Doubleday and Steve Chien and Charles Norton and Kiri Wagstaff and David R. Thompson and John Bellardo and Craig Francis and Eric Baumgarten},
	year         = 2015,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGARSS 2015)},
	address      = {Milan, Italy},
	url          = {https://ai.jpl.nasa.gov/public/papers/doubleday-igarss2015-autonomy.pdf},
	clearance    = {CL\#15-2169},
	project      = {ipex}
}

@inproceedings{davies-chien-doubleday-et-al-AI-Space-IJCAI-2015,
	title        = {The NASA Volcano Sensorweb: Over a Decade of Operations},
	author       = {Ashley G. Davies and Steve Chien and Joshua Doubleday and Daniel Tran and David McLaren},
	year         = 2015,
	month        = {July},
	booktitle    = {International Joint Conference on Artificial Intelligence Workshop on Artificial Intelligence in Space (AI Space, IJCAI 2015)},
	address      = {Buenos Aires, Argentina},
	url          = {https://ai.jpl.nasa.gov/public/papers/davies-ijcai2015-nasa.pdf},
	clearance    = {CL\#15-2653},
	project      = {sensorweb}
}

@inproceedings{johnston-levesque-malhotra-et-al-AI-Space-IJCAI-2015,
	title        = {NASA Deep Space Network: Automation Improvements in the Follow-the-Sun Era},
	author       = {Mark D. Johnston and Michael Levesque and Shan Malhotra and Daniel Tran and Rishi Verma and Silvino Zendejas},
	year         = 2015,
	month        = {July},
	booktitle    = {International Joint Conference on Artificial Intelligence Workshop on Artificial Intelligence in Space (AI Space, IJCAI 2015)},
	address      = {Buenos Aires, Argentina},
	url          = {https://ai.jpl.nasa.gov/public/papers/johnston-ijcai2015-dsn.pdf},
	clearance    = {CL\#15-2280},
	project      = {SSS}
}

@inproceedings{chien-knight-schaffer-et-al-AI-Space-IJCAI-2015,
	title        = {An Onboard Autonomous Response Prototype for an Earth Observing Spacecraft},
	author       = {Steve Chien and Russell Knight and Steve Schaffer and David Ray Thompson and Brian Bue and Martina Troesch},
	year         = 2015,
	month        = {July},
	booktitle    = {International Joint Conference on Artificial Intelligence Workshop on Artificial Intelligence in Space (AI Space, IJCAI 2015)},
	address      = {Buenos Aires, Argentina},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-ijcai2015-autonomous.pdf},
	abstract     = {Prior space missions have not routinely used onboard decision-making. The Autonomous Sciencecraft (ASE), flying onboard the Earth Observing One spacecraft, has been flying autonomous agent software for the last decade that enables it to analyze acquired imagery on board and use that analysis to determine future imaging. However ASE takes approximately one hour to analyze and respond. This paper describes the Earth Observing Autonomy (EOA) project to increase the responsiveness of spacecraft flight software for onboard decision-making as well as to increase the capabilities such flight software. We describe prototype flight software that simulates acquisition of imagery, onboard spectral analysis of the imagery, replanning of imaging to include re-imaging of detected phenomenon, and then execution of this response imagery - all within this eight minute single overflight including the spacecraft response time (e.g. To re-point the spacecraft, acquire the image, etc.).},
	clearance    = {CL\#15-1514},
	project      = {EagleEye}
}

Prior space missions have not routinely used onboard decision-making. The Autonomous Sciencecraft (ASE), flying onboard the Earth Observing One spacecraft, has been flying autonomous agent software for the last decade that enables it to analyze acquired imagery on board and use that analysis to determine future imaging. However ASE takes approximately one hour to analyze and respond. This paper describes the Earth Observing Autonomy (EOA) project to increase the responsiveness of spacecraft flight software for onboard decision-making as well as to increase the capabilities such flight software. We describe prototype flight software that simulates acquisition of imagery, onboard spectral analysis of the imagery, replanning of imaging to include re-imaging of detected phenomenon, and then execution of this response imagery - all within this eight minute single overflight including the spacecraft response time (e.g. To re-point the spacecraft, acquire the image, etc.).

@inproceedings{estlin-gaines-bornstein-et-al-AI-Space-IJCAI-2015,
	title        = {Autonomous Science for the MSL Rover},
	author       = {Tara Estlin and Daniel Gaines and Benjamin Bornstein and Steve Schaffer and Vandi Verma and Robert C. Anderson and Michael Burl and Diana Blaney and Lauren De Flores and Tony Nelson and Roger Wiens},
	year         = 2015,
	month        = {July},
	booktitle    = {International Joint Conference on Artificial Intelligence Workshop on Artificial Intelligence in Space (AI Space, IJCAI 2015)},
	address      = {Buenos Aires, Argentina},
	url          = {https://ai.jpl.nasa.gov/public/papers/estlin-ijcai2015-autonomous.pdf},
	clearance    = {CL\#15-2700},
	project      = {rover}
}

@inproceedings{tran-johnston-IWPSS-2015,
	title        = {Automated Operator Link Assignment Scheduling for NASA's Deep Space Network},
	author       = {Daniel Tran and Mark D. Johnston},
	year         = 2015,
	month        = {July},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2015)},
	address      = {Buenos Aires, Argentina},
	url          = {https://ai.jpl.nasa.gov/public/papers/tran-iwpss2015-automated.pdf},
	clearance    = {CL\#15-2088},
	project      = {SSS}
}

@inproceedings{rabideau-nespoli-chien-IWPSS-2015,
	title        = {Heuristic Scheduling of Space Mission Downlinks: A Case study from the Rosetta Mission},
	author       = {Gregg Rabideau and Federico Nespoli and Steve Chien},
	year         = 2015,
	month        = {July},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2015)},
	address      = {Buenos Aires, Argentina},
	url          = {https://ai.jpl.nasa.gov/public/papers/rabideau-iwpss2015-heuristic.pdf},
	clearance    = {CL\#15-1499},
	project      = {rosetta}
}

@inproceedings{rabideau-chien-ferguson-IWPSS-2015,
	title        = {Using Automated Scheduling for Mission Analysis and a Case Study Using the Europa Clipper Mission Concept},
	author       = {Gregg Rabideau and Steve Chien and Eric Ferguson},
	year         = 2015,
	month        = {July},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2015)},
	address      = {Buenos Aires, Argentina},
	url          = {https://ai.jpl.nasa.gov/public/papers/rabideau-iwpss2015-using.pdf},
	clearance    = {CL\#15-2712},
	project      = {clasp}
}

@inproceedings{chien-troesch-IWPSS-2015,
	title        = {Heuristic Onboard Pointing Re-scheduling for an Earth Observing Spacecraft},
	author       = {Steve Chien and Martina Troesch},
	year         = 2015,
	month        = {July},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2015)},
	address      = {Buenos Aires, Argentina},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-iwpss2015-heuristic.pdf},
	abstract     = {Prior space missions have not routinely used onboard decision-making. The Autonomous Sciencecraft (ASE), flying onboard the Earth Observing One spacecraft, has been flying autonomous agent software for the last decade that enables it to analyze acquired imagery on board and use that analysis to determine future imaging. However ASE takes approximately one hour to analyze and respond. This paper describes a scheduling prototype for the Earth Observing Autonomy (EOA) project to increase the responsiveness of spacecraft flight software for onboard decision-making as well as to increase the capabilities of flight software. Specifically, we target onboard image analysis and response within a single orbital overflight at low Earth orbit (about eight minutes). We focus on the re-scheduling of the future image acquisitions in the context of an existing set of requests along with new requests based on onboard analysis of just acquired imagery. We describe a greedy, constructive, scheduler with O(n2) performance and present preliminary results on its performance.},
	clearance    = {CL\#15-1658},
	project      = {EagleEye}
}

Prior space missions have not routinely used onboard decision-making. The Autonomous Sciencecraft (ASE), flying onboard the Earth Observing One spacecraft, has been flying autonomous agent software for the last decade that enables it to analyze acquired imagery on board and use that analysis to determine future imaging. However ASE takes approximately one hour to analyze and respond. This paper describes a scheduling prototype for the Earth Observing Autonomy (EOA) project to increase the responsiveness of spacecraft flight software for onboard decision-making as well as to increase the capabilities of flight software. Specifically, we target onboard image analysis and response within a single orbital overflight at low Earth orbit (about eight minutes). We focus on the re-scheduling of the future image acquisitions in the context of an existing set of requests along with new requests based on onboard analysis of just acquired imagery. We describe a greedy, constructive, scheduler with O(n2) performance and present preliminary results on its performance.

@article{doubleday-chien-lou-et-al-2014,
	title        = {Onboard Autonomous Response for UAVSAR as a Demonstration Platform for Future Space-Based Radar Missions},
	author       = {J. Doubleday and S. Chien and Y. Lou and D. Clark and R. Muellerschoen},
	year         = 2014,
	journal      = {Acta Futura},
	volume       = 9,
	pages        = {31--39},
	url          = {https://ai.jpl.nasa.gov/public/papers/doubleday-actafutura2014-onboard.pdf},
	clearance    = {CL\#13-3664},
	project      = {uavsar}
}

@article{chien-rabideau-gharibian-et-al-2014,
	title        = {Procedural Onboard Science Autonomy for Primitive Bodies Exploration},
	author       = {S. Chien and G. Rabideau and D. Gharibian and D. Thompson and K. Wagstaff and B. Bue and J. Castillo-Rogez},
	year         = 2014,
	journal      = {Acta Futura},
	volume       = 9,
	pages        = {83--91},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-actafutura2014-procedural.pdf},
	clearance    = {CL\#12-3005},
	project      = {AgileScience}
}

@article{johnston-tran-arroyo-et-al-2014,
	title        = {Automated Scheduling for NASA's Deep Space Network},
	author       = {Mark D. Johnston and Daniel Tran and Belinda Arroyo and Sugi Sorensen and Peter Tay and Butch Carruth and Adam Coffman and Mike Wallace},
	year         = 2014,
	month        = {Winter},
	journal      = {AI Magazine},
	volume       = {35 (4)},
	pages        = {7--25},
	url          = {https://pdfs.semanticscholar.org/6325/5602347d7dbb9a8819dee7a1dbc3d1e9d14e.pdf},
	clearance    = {CL\#14-1968},
	project      = {SSS}
}

@article{knight-chouinard-chouinard-et-al-2014,
	title        = {Leveraging Multiple Artificial Intelligence Techniques to Improve the Responsiveness in Operations Planning: ASPEN for Orbital Express},
	author       = {Russell Knight and Caroline Chouinard and Caroline Chouinard and Daniel Tran},
	year         = 2014,
	month        = {Winter},
	journal      = {AI Magazine},
	volume       = {35 (4)},
	pages        = {26--36},
	clearance    = {CL\#14-2063},
	project      = {orbital\_express}
}

@article{chien-morris-2014,
	title        = {Editorial Introduction: Space Applications of Artificial Intelligence},
	author       = {Steve Chien and Robert Morris},
	year         = 2014,
	month        = {Winter},
	journal      = {AI Magazine},
	volume       = {35 (4)},
	pages        = {3--6},
	clearance    = {CL\#14-2621}
}

@inproceedings{estlin-anderson-blaney-et-al-ISAIRAS-2014,
	title        = {Automated Targeting for the MSL Rover ChemCam Spectrometer},
	author       = {T. Estlin and R. C. Anderson and D. Blaney and B. Bornstein and M. Burl and R. Casta\~{n}o and L. De Flores and D. Gaines and D. R. Thompson and R. Wiens},
	year         = 2014,
	month        = {July},
	booktitle    = {12th International Symposium on Artificial Intelligence, Robotics and Automation in Space (ISAIRAS 2014)},
	address      = {Montreal, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/estlin-isairas2014-automated.pdf},
	clearance    = {CL\#14-1713},
	project      = {rover}
}

@inproceedings{chien-doubleday-tran-et-al-2014-april,
	title        = {Onboard Autonomy on the Intelligent Payload EXperiment (IPEX), INSPIRE, and NEA-Scout Cubesat, Missions},
	author       = {S. Chien and J. Doubleday and D. Tran and D. Thompson and K. Wagstaff and J. Castillo-Rogez and J. Bellardo and C. Francis and E. Baumgarten and A. Williams and E. Yee and D. Fluitt and E. Stanton and J. Piug-Suari},
	year         = 2014,
	month        = {April},
	booktitle    = {Government Cubesat Technical Interchange Meeting},
	address      = {Pasdena, CA},
	clearance    = {CL\#14-1613},
	project      = {ipex}
}

@inproceedings{chien-doubleday-tran-et-al-2014,
	title        = {Flight  Validation  of  HyspIRI  IPM  Concepts  on  the  Intelligent  Payload Experiment  (IPEX)  CubeSat},
	author       = {S. Chien and J. Doubleday and D. Tran and D. Thompson and K. Wagstaff and J. Bellardo and C. Francis and E. Baumgarten and A. Williams and E. Yee and D. Fluitt and E. Stanton and J. Piug-Suari},
	year         = 2014,
	month        = {June},
	booktitle    = {HyspIRI Product Symposium},
	address      = {Greenbelt, MD},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-hyspiri2014-flight.pdf},
	clearance    = {CL\#14-1614},
	project      = {HyspIRI ipex}
}

@inproceedings{chien-torres-tran-et-al-2014,
	title        = {Generation of OLI data products Onboard Earth Observing One: A Preliminary Report},
	author       = {S. Chien and J. Torres and D. Tran and D. R. Thompson and R. Green and D. Mandl and E. Middleton and S. Ungar and L. Ong and P. Campbell},
	year         = 2014,
	month        = {June},
	booktitle    = {HyspIRI Product Symposium},
	address      = {Greenbelt, MD},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-hyspiri2014-generation.pdf},
	clearance    = {CL\#14-2252},
	project      = {HyspIRI}
}

@inproceedings{rabideau-polanskey-doubleday-et-al-SpaceOps-2014,
	title        = {A Data Management Tool for Dawn Science Planning},
	author       = {G. Rabideau and C. Polanskey and J. Doubleday and S. Chien},
	year         = 2014,
	month        = {May},
	booktitle    = {International Conference On Space Operations (SpaceOps 2014)},
	address      = {Pasadena, CA},
	clearance    = {CL\#14-1413}
}

@inproceedings{rabideau-polanskey-chien-et-al-SpaceOps-2014,
	title        = {A Data Management Tool for Dawn Science Planning},
	author       = {G. Rabideau and C. Polanskey and S. Chien and J. Doubleday and S. Joy},
	year         = 2014,
	month        = {May},
	booktitle    = {International Conference On Space Operations (SpaceOps 2014)},
	address      = {Pasadena, CA},
	clearance    = {CL\#14-1413}
}

@inproceedings{doubleday-knight-SpaceOps-2014,
	title        = {Science Mission Planning for NISAR (formerly DESDynI) with CLASP},
	author       = {J. Doubleday and R. Knight},
	year         = 2014,
	month        = {May},
	booktitle    = {International Conference On Space Operations (SpaceOps 2014)},
	address      = {Pasadena, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/doubleday-spaceops2014-science.pdf},
	clearance    = {CL\#14-1412},
	project      = {clasp}
}

@inproceedings{knight-mishkin-allbaugh-SpaceOps-2014,
	title        = {Automated Scheduling of Personnel to Staff Operations for the Mars Science Laboratory},
	author       = {R. Knight and A. Mishkin and A. Allbaugh},
	year         = 2014,
	month        = {May},
	booktitle    = {International Conference On Space Operations (SpaceOps 2014)},
	address      = {Pasadena, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/knight-spaceops2014-automated.pdf},
	clearance    = {CL\#14-1498}
}

@inproceedings{chien-bue-castillo-rogez-et-al-SpaceOps-2014,
	title        = {Agile Science for Primitive Bodies and Deep Space Exploration},
	author       = {S. Chien and B. Bue and J. Castillo-Rogez and D. Gharibian and D. R. Thompson and K. L. Wagstaff},
	year         = 2014,
	month        = {May},
	booktitle    = {International Conference On Space Operations (SpaceOps 2014)},
	address      = {Pasadena, CA},
	clearance    = {CL\#14-1432},
	project      = {AgileScience}
}

@inproceedings{ray-knight-mohr-SpaceOps-2014,
	title        = {Automated Scheduling of Science Activities for Titan Encounters by Cassini},
	author       = {T. Ray and R. Knight and D. Mohr},
	year         = 2014,
	month        = {May},
	booktitle    = {International Conference On Space Operations (SpaceOps 2014)},
	address      = {Pasadena, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/ray-spaceops2014-automated.pdf},
	clearance    = {CL\#14-1890}
}

@inproceedings{rabideau-joy-polanskey-et-al-ISAIRAS-2014,
	title        = {A Constraint-based Data Management Tool for Dawn Science Planning},
	author       = {G. Rabideau and S. P. Joy and C. Polanskey and J. Doubleday and S. Chien},
	year         = 2014,
	month        = {June},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2014)},
	address      = {Montreal, Canada},
	url          = {https://ai.jpl.nasa.gov/public/papers/rabideau-isairas2014-constraint.pdf},
	clearance    = {CL\#14-1710}
}

@inproceedings{knight-ISAIRAS-2014,
	title        = {Area Coverage Planning for Sub-dividable Framing Instruments},
	author       = {R. Knight},
	year         = 2014,
	month        = {June},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2014)},
	address      = {Montreal, Canada},
	url          = {https://ai.jpl.nasa.gov/public/papers/knight-isairas2014-area.pdf},
	clearance    = {CL\#14-1704},
	project      = {EagleEye}
}

@inproceedings{chien-rabideau-gharibian-et-al-ISAIRAS-2014,
	title        = {Agile Science: Using Onboard Autonomy for Primitive Bodies and Deep Space Exploration},
	author       = {S. Chien and G. Rabideau and D. Gharibian and D. Thompson and K. Wagstaff and B. Bue and J. Castillo-Rogez},
	year         = 2014,
	month        = {June},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2014)},
	address      = {Montreal, Canada},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-isairas2014-agile.pdf},
	clearance    = {CL\#14-1790},
	project      = {AgileScience}
}

@inproceedings{chien-rabideau-tran-et-al-ISAIRAS-2014,
	title        = {Activity-based Scheduling of Science Campaigns for the Rosetta Orbiter: An Early Report on Operations},
	author       = {S. Chien and G. Rabideau and D. Tran and J. Doubleday and D. Chao and F. Nespoli and M. P. Ayucar and M. C. Sitja and C. Vallat and B. Geiger and N. Altobelli and M. Fernandez and F. Vallejo and R. Andres and M. Kueppers},
	year         = 2014,
	month        = {June},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2014)},
	address      = {Montreal, Canada},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-isairas2014-activity.pdf},
	clearance    = {CL\#14-1731},
	project      = {rosetta}
}

@inproceedings{chien-doubleday-tran-et-al-ISAIRAS-2014,
	title        = {Onboard Autonomy on the Intelligent Payload EXperiment (IPEX) Cubesat Mission as a Pathfinder for the Proposed HyspIRI Mission Intelligent Payload Module},
	author       = {S. Chien and J. Doubleday and D. Tran and D. Thompson and K. Wagstaff and J. Bellardo and C. Francis and E. Baumgarten and A. Williams and E. Yee and D. Fluitt and E. Stanton and J. Piug-Suari},
	year         = 2014,
	month        = {June},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2014)},
	address      = {Montreal, Canada},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-isairas2014-onboard.pdf},
	clearance    = {CL\#14-1736},
	project      = {HyspIRI ipex}
}

@article{chien-mclaren-doubleday-et-al-2013,
	title        = {Using Sensorweb Technologies to Monitor Flooding in Thailand},
	author       = {S. Chien and D. Mclaren and J. Doubleday and D. Tran and V. Tanpipat and R. Chitradon and S. Boonya-aroonet and P. Thanapakpawin and D. Mandl},
	year         = 2013,
	month        = {December},
	journal      = {Earthzine},
	url          = {http://www.earthzine.org/2013/12/02/using-sensorweb-technologies-to-monitor-flooding-in-thailand/},
	clearance    = {CL\#13-3886},
	project      = {tfs}
}

@article{thompson-mandrake-green-et-al-2013,
	title        = {A Case Study of Spectral Signature Detection in Multimodal and Outlier-Contaminated Scenes},
	author       = {D. R. Thompson and L. Mandrake and R. Green and S. Chien},
	year         = 2013,
	journal      = {IEEE Geoscience and Remote Sensing Letters},
	clearance    = {CL\#12-5258}
}

@article{chien-mclaren-tran-et-al-2013,
	title        = {Onboard Product Generation on Earth Observing One: A Pathfinder for the Proposed HyspIRI Mission Intelligent Payload Module},
	author       = {S. Chien and D. Mclaren and D. Tran and A. G. Davies and J. Doubleday and D. Mandl},
	year         = 2013,
	journal      = {IEEE JSTARS Special Issue on the Earth Observing One (EO-1) Satellite Mission: Over a decade in space},
	clearance    = {CL\#12-5101},
	project      = {HyspIRI}
}

@article{chien-doubleday-mclaren-et-al-2013,
	title        = {Monitoring flooding in Thailand using Earth observing One in a Sensorweb},
	author       = {S. Chien and J. Doubleday and D. Mclaren and D. Tran and V. Tanpipat and R. Chitradon and S. Boonya-aroonnet and P. Thanapakpawin and D. Mandl},
	year         = 2013,
	journal      = {IEEE JSTARS Special Issue on the Earth Observing One (EO-1) Satellite Mission: Over a decade in space},
	clearance    = {CL\#12-2847},
	project      = {tfs}
}

@article{davies-chien-doubleday-et-al-2013,
	title        = {Observing Iceland's Eyjafjallaj\"{o}kull 2010 Eruptions with the Autonomous NASA Volcano Sensor Web},
	author       = {A. G. Davies and S. Chien and J. Doubleday and D. Tran and T. Thordarson and M. Gudmundsson and A. Hoskuldsson and S. Jakobsdottir and R. Wright and D. Mandl},
	year         = 2013,
	journal      = {Journal of Geophysical Research - Solid Earth},
	clearance    = {CL\#13-1035},
	project      = {sensorweb}
}

@inproceedings{knight-donnellan-green-IWPSS-2013,
	title        = {Mission Design Evaluation Using Automated Planning for High Resolution Imaging of Dynamic Surface Processes from the ISS},
	author       = {R. Knight and A. Donnellan and J. Green},
	year         = 2013,
	month        = {March},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2013)},
	address      = {Moffett Field, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/knight-iwpss2013-mission.pdf},
	clearance    = {CL\#13-1396},
	project      = {EagleEye}
}

@inproceedings{knight-rabideau-mishkin-et-al-IWPSS-2013,
	title        = {Automating Stowage Operations for the International Space Station},
	author       = {R. Knight and G. Rabideau and A. Mishkin and Y. Lee},
	year         = 2013,
	month        = {March},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2013)},
	address      = {Moffett Field, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/knight-iwpss2013-automating.pdf},
	clearance    = {CL\#13-1361}
}

@inproceedings{chien-rabideau-tran-et-al-IWPSS-2013,
	title        = {Scheduling Science Campaigns for the Rosetta Mission: A Preliminary Report},
	author       = {S. Chien and G. Rabideau and D. Tran and F. Nespoli and D. Frew and H. Metselaar and M. Kueppers and M. Fernandez and L. O'Rourke},
	year         = 2013,
	month        = {March},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2013)},
	address      = {Moffett Field, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-iwpss2013-scheduling.pdf},
	clearance    = {CL\#13-1333},
	project      = {rosetta}
}

@inproceedings{chien-doubleday-tran-et-al-IWPSS-2013,
	title        = {Onboard Mission Planning on the Intelligent Payload Experiment (IPEX) Cubesat Mission},
	author       = {S. Chien and J. Doubleday and D. Tran and J. Bellardo and C. Francis and E. Baumgarten and A. Williams and E. Yee and D. FLuitt and E. Stanton and J. Piug-Suari},
	year         = 2013,
	month        = {March},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2013)},
	address      = {Moffett Field, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-iwpss2013-onboard.pdf},
	clearance    = {CL\#13-1342},
	project      = {ipex}
}

@article{estlin-bornstein-gaines-et-al-2012,
	title        = {AEGIS Automated Targeting for the MER Opportunity Rover},
	author       = {T. Estlin and B. Bornstein and D. Gaines and R. C. Anderson and D. Thompson and M. Burl and R. Casta\~{n}o and M. Judd},
	year         = 2012,
	journal      = {ACM Transactions on Intelligent Systems and Technology},
	volume       = {3(3)},
	url          = {https://ai.jpl.nasa.gov/public/papers/estlin-acmtist2014-aegis.pdf},
	clearance    = {CL\#11-4072},
	project      = {rover}
}

@article{hayden-chien-thompson-et-al-2012,
	title        = {Using Clustering and Metric Learning to Improve Science Return of Remote Sensed Imagery},
	author       = {D. Hayden and S. Chien and D. Thompson and R. Castano},
	year         = 2012,
	month        = {May},
	journal      = {ACM Transactions on Intelligent Systems Technology, Special Issue on AI in Space},
	volume       = {3 (3)},
	url          = {https://ai.jpl.nasa.gov/public/papers/hayden-tist2012-using.pdf},
	clearance    = {CL\#11-4444}
}

@article{mandrake-rebbapragada-wagstaff-et-al-2012,
	title        = {Surface Sulfur Detection via Remote Sensing and Onboard Classification},
	author       = {L. Mandrake and U. Rebbapragada and K. Wagstaff and D. Thompson and S. Chien and D. Tran and R. Pappalardo and D. Gleeson and R. Castano},
	year         = 2012,
	month        = {September},
	journal      = {ACM Transactions on Intelligent Systems Technology, Special Issue on AI in Space},
	volume       = {3 (4)},
	url          = {https://ai.jpl.nasa.gov/public/papers/mandrake-tist2012-surface.pdf},
	clearance    = {CL\#11-3813},
	project      = {ASE}
}

@article{thompson-bornstein-chien-et-al-2012,
	title        = {Autonomous Spectral Discovery and Mapping Onboard the EO-1 spacecraft},
	author       = {D. R. Thompson and B. Bornstein and S. Chien and S. Schaffer and D. Tran and B. Bue and R. Castano and D. Gleeson and A. Noell},
	year         = 2012,
	journal      = {IEEE Transactions on Geoscience and Remote Sensing},
	clearance    = {CL\#12-5114},
	project      = {ASE}
}

@article{thompson-bunte-castano-et-al-2012,
	title        = {Onboard Image Processing for Autonomous Spacecraft Detection of Volcanic Plumes},
	author       = {D. R. Thompson and M. Bunte and R. Casta\~{n}o and S. Chien and R. Greeley},
	year         = 2012,
	journal      = {Planetary and Space Science Journal},
	volume       = 62,
	pages        = {153--159},
	url          = {https://ai.jpl.nasa.gov/public/papers/thompson-pss2012-onboard.pdf},
	clearance    = {CL\#11-5157},
	project      = {AgileScience}
}

@inproceedings{thompson-abbey-allwood-et-al-ISAIRAS-2012,
	title        = {Smart Cameras for Remote Science Survey},
	author       = {D. R. Thompson and W. Abbey and A. Allwood and D. Bekker and B. Bornstein and N. A. Cabrol and R. Casta\~{n}o and T. Estlin and T. Fuchs and K. L. Wagstaff},
	year         = 2012,
	month        = {September},
	booktitle    = {11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (ISAIRAS 2012)},
	address      = {Turin, Italy},
	url          = {https://ai.jpl.nasa.gov/public/papers/thompson-isairas2012-smart.pdf},
	clearance    = {CL\#12-2127},
	project      = {rover}
}

@inproceedings{estlin-anderson-bornstein-et-al-ISAIRAS-2012,
	title        = {Two Years of Autonomous Targeting Onboard the MER Opportunity Rover},
	author       = {T. Estlin and R. C. Anderson and B. Bornstein and M. Burl and R. Casta\~{n}o and D. Gaines and M. Judd and D. R. Thompson},
	year         = 2012,
	month        = {September},
	booktitle    = {11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (ISAIRAS 2012)},
	address      = {Turin, Italy},
	url          = {https://ai.jpl.nasa.gov/public/papers/estlin-isairas2012-two.pdf},
	clearance    = {CL\#12-2849},
	project      = {rover}
}

@inproceedings{chien-2012-october,
	title        = {Rationale for a Mission Planning Services Standard: An Automated Planning Perspective},
	author       = {S Chien},
	year         = 2012,
	month        = {October},
	booktitle    = {CCSDS Working Group on Mission Planning Services},
	address      = {Cleveland, OH},
	clearance    = {CL\#12-5104}
}

@inproceedings{chien-doubleday-ortega-et-al-2012,
	title        = {Onboard Processing and Autonomous Operations on the IPEX Cubesat Mission},
	author       = {S. Chien and J. Doubleday and K. Ortega and T. Flatley and G. Crum and A. Geist and M. Lin and A. Williams and J. Bellardo and J. Puig Suari and E. Stanton and E. Yee},
	year         = 2012,
	month        = {April},
	booktitle    = {Government Cubesat Symposium},
	address      = {Moffett Field, CA},
	clearance    = {CL\#12-1422},
	project      = {ipex}
}

@inproceedings{chien-2012,
	title        = {Flight and Ground Operations Concept for the HyspIRI Intelligent Payload Module},
	author       = {S. Chien},
	year         = 2012,
	month        = {October},
	booktitle    = {HyspIRI Science Workshop},
	address      = {Washington, DC},
	clearance    = {CL\#12-5107},
	project      = {HyspIRI}
}

@inproceedings{norton-pasciuto-pingree-et-al-2012,
	title        = {Spaceborne Flight Validation of NASA ESTO Technologies},
	author       = {C. Norton and M. Pasciuto and P. Pingree and S. Chien and D. Rider},
	year         = 2012,
	month        = {July},
	booktitle    = {IEEE International Geoscience and Remote Sensing Symposium},
	address      = {Munich, Germany},
	clearance    = {CL\#12-0406},
	project      = {ipex}
}

@inproceedings{thompson-chien-doyle-et-al-SpaceOps-2012,
	title        = {Agile science operations: a new approach for primitive bodies exploration},
	author       = {D. R. Thompson and S. Chien and R. Doyle and T. Estlin and D. Mclaren},
	year         = 2012,
	month        = {June},
	booktitle    = {International Conference On Space Operations (SpaceOps 2012)},
	address      = {Stockholm, Sweden},
	url          = {https://ai.jpl.nasa.gov/public/papers/thompson-spaceops2012-agile.pdf},
	clearance    = {CL\#12-1687},
	project      = {AgileScience}
}

@inproceedings{thompson-tran-arroyo-et-al-SpaceOps-2012,
	title        = {Automating Mid- and Long-Range Scheduling for NASA's Deep Space Network},
	author       = {M. Johnston and D. Tran and B. Arroyo and S. Sorensen and P. Tay and B. Carruth and A. Coffman and M. Wallace},
	year         = 2012,
	month        = {June},
	booktitle    = {International Conference On Space Operations (SpaceOps 2012)},
	address      = {Stockholm, Sweden},
	url          = {https://trs.jpl.nasa.gov/bitstream/handle/2014/42582/12-1825.pdf},
	abstract     = {NASA has recently deployed a new mid-range scheduling system for the antennas of the Deep Space Network (DSN), called Service Scheduling Software, or S 3 . This system is architected as a modern web application containing a central scheduling database integrated with a collaborative environment, exploiting the same technologies as social web applications but applied to a space operations context. This is highly relevant to the DSN domain since the network schedule of operations is developed in a peer-to-peer negotiation process among all users who utilize the DSN (representing 37 projects including international partners and ground-based science and calibration users). The initial implementation of S 3 is complete and the system has been operational since July 2011. S 3 has been used for negotiating schedules since April 2011, including the baseline schedules for three launching missions in late 2011. S 3 supports a distributed scheduling model, in which changes can potentially be made by multiple users based on multiple schedule "workspaces" or versions of the schedule. This has led to several challenges in the design of the scheduling database, and of a change proposal workflow that allows users to concur with or to reject proposed schedule changes, and then counter-propose with alternative or additional suggested changes. This paper describes some key aspects of the S 3 system and lessons learned from its operational deployment to date, focusing on the challenges of multi-user collaborative scheduling in a practical and mission-critical setting. We will also describe the ongoing project to extend S 3 to encompass long-range planning, downtime analysis, and forecasting, as the next step in developing a single integrated DSN scheduling tool suite to cover all time ranges.},
	project      = {SSS}
}

NASA has recently deployed a new mid-range scheduling system for the antennas of the Deep Space Network (DSN), called Service Scheduling Software, or S 3 . This system is architected as a modern web application containing a central scheduling database integrated with a collaborative environment, exploiting the same technologies as social web applications but applied to a space operations context. This is highly relevant to the DSN domain since the network schedule of operations is developed in a peer-to-peer negotiation process among all users who utilize the DSN (representing 37 projects including international partners and ground-based science and calibration users). The initial implementation of S 3 is complete and the system has been operational since July 2011. S 3 has been used for negotiating schedules since April 2011, including the baseline schedules for three launching missions in late 2011. S 3 supports a distributed scheduling model, in which changes can potentially be made by multiple users based on multiple schedule "workspaces" or versions of the schedule. This has led to several challenges in the design of the scheduling database, and of a change proposal workflow that allows users to concur with or to reject proposed schedule changes, and then counter-propose with alternative or additional suggested changes. This paper describes some key aspects of the S 3 system and lessons learned from its operational deployment to date, focusing on the challenges of multi-user collaborative scheduling in a practical and mission-critical setting. We will also describe the ongoing project to extend S 3 to encompass long-range planning, downtime analysis, and forecasting, as the next step in developing a single integrated DSN scheduling tool suite to cover all time ranges.

@inproceedings{chien-johnston-policella-et-al-SpaceOps-2012,
	title        = {A generalized timeline representation, services, and interface for automating space mission operations},
	author       = {S. Chien and M. Johnston and N. Policella and J. Frank and C. Lenzen and M. Giuliano and A. Kavelaars},
	year         = 2012,
	month        = {June},
	booktitle    = {International Conference On Space Operations (SpaceOps 2012)},
	address      = {Stockholm, Sweden},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-spaceops2012-generalized.pdf},
	clearance    = {CL\#12-1755}
}

@inproceedings{norton-pasciuto-pingree-et-al-IGRSS-2012,
	title        = {Spaceborne Flight Validation of NASA Earth Science Technology Office Technologies},
	author       = {C. Norton and M. Pasciuto and P. Pingree and S. Chien and D. Rider},
	year         = 2012,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGRSS 2012)},
	address      = {Munich, Germany},
	url          = {https://ai.jpl.nasa.gov/public/papers/norton-igarss2012-spaceborne.pdf},
	clearance    = {CL\#12-2541},
	project      = {ipex}
}

@inproceedings{thompson-bornstein-bue-et-al-ISAIRAS-2012,
	title        = {Hyperspectral Feature Detection onboard the Earth Observing One Spacecraft using Superpixel Segmentation and Endmember Extraction},
	author       = {D. R. Thompson and B. Bornstein and B. Bue and D. Tran and R. Castano and S. Chien},
	year         = 2012,
	month        = {September},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2012)},
	address      = {Turin, Italy},
	url          = {https://ai.jpl.nasa.gov/public/papers/thompson-isairas2012-hyperspectral.pdf},
	clearance    = {CL\#12-2768},
	project      = {ASE}
}

@inproceedings{thompson-tran-bunte-et-al-ISAIRAS-2012,
	title        = {Plume detection at irregular bodies using morphological analysis},
	author       = {D. R. Thompson and D. Tran and M. Bunte and R. Greeley and S. Chien},
	year         = 2012,
	month        = {September},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2012)},
	address      = {Turin, Italy},
	url          = {https://ai.jpl.nasa.gov/public/papers/thompson-isairas2012-plume.pdf},
	clearance    = {CL\#12-2433},
	project      = {AgileScience}
}

@inproceedings{knight-mclaren-hu-ISAIRAS-2012,
	title        = {Planning Coverage Campaigns for Mission Design and Analysis: CLASP for the proposed DESDynI Mission},
	author       = {R. Knight and D. McLaren and S. Hu},
	year         = 2012,
	month        = {September},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2012)},
	address      = {Turin, Italy},
	url          = {https://ai.jpl.nasa.gov/public/papers/knight-isairas2012-planning.pdf},
	clearance    = {CL\#12-2944},
	project      = {clasp}
}

@inproceedings{knight-rabideau-lenda-et-al-ISAIRAS-2012,
	title        = {A Comparison of Declarative and Hybrid Declarative-Procedural Models for Rover Operations},
	author       = {R. Knight and G. Rabideau and M. Lenda and P. Maldague},
	year         = 2012,
	month        = {September},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2012)},
	address      = {Turin, Italy},
	url          = {https://ai.jpl.nasa.gov/public/papers/knight-isairas2012-comparison.pdf},
	clearance    = {CL\#12-2851},
	project      = {rover}
}

@inproceedings{chien-mclaren-doubleday-et-al-ISAIRAS-2012,
	title        = {Automated Space-based monitoring of flooding in Thailand},
	author       = {S. Chien and D. Mclaren and J. Doubleday and D. Tran and V. Tanpipat and R. Chitadron and S. Boonya aroonnet and B. Thanapakpawin and D. Mandl},
	year         = 2012,
	month        = {September},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2012)},
	address      = {Turin, Italy},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-isairas2012-automated.pdf},
	clearance    = {CL\#12-2856},
	project      = {tfs}
}

@inproceedings{chien-doubleday-shao-et-al-ISAIRAS-2012,
	title        = {Onboard Autonomy and Ground Operations Automation for the Intelligent Payload Experiment (IPEX) Cubesat Mission},
	author       = {S. Chien and J. Doubleday and E. Shao and D. Tran and J. Bellardo and A. Williams and J. Piug Suari and G. Crum and T. Flatley},
	year         = 2012,
	month        = {September},
	booktitle    = {International Symposium on Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2012)},
	address      = {Turin, Italy},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-isairas2012-onboard.pdf},
	clearance    = {CL\#12-2857},
	project      = {ipex}
}

@inproceedings{mclaren-thompson-davies-et-al-2012,
	title        = {Automatic estimation of volcanic ash plume height using Worldview-2 imagery},
	author       = {D. Mclaren and D. R. Thompson and A. G. Davies and M. Gudmundsson and S. Chien},
	year         = 2012,
	month        = {April},
	booktitle    = {SPIE Defense, Security, and Sensing},
	address      = {Baltimore, MD},
	url          = {https://ai.jpl.nasa.gov/public/papers/mclaren-spie2012-automatic.pdf},
	clearance    = {CL\#12-1244},
	project      = {sensorweb}
}

@inproceedings{mclaren-doubleday-chien-2012,
	title        = {Automated tracking of flooding using WorldView-2 imagery},
	author       = {D. Mclaren and J. Doubleday and S. Chien},
	year         = 2012,
	month        = {April},
	booktitle    = {SPIE Defense, Security, and Sensing},
	address      = {Baltimore, MD},
	url          = {https://ai.jpl.nasa.gov/public/papers/mclaren-spie2012-automated.pdf},
	clearance    = {CL\#12-1201},
	project      = {tfs}
}

@article{rabideau-chien-mclaren-2011,
	title        = {Tractable Goal Selection for Embedded Systems with Oversubscribed Resources},
	author       = {G. Rabideau and S. Chien and D. McLaren},
	year         = 2011,
	journal      = {Journal of Aerospace Computing Information, and Communication (JACIC)},
	volume       = {8 (5)},
	pages        = {151--169}
}

@inproceedings{barrett-2011,
	title        = {A Parametric Testing Environment for Finding the Operational Envelopes of Simulated Guidance Algorithms},
	author       = {Anthony Barrett},
	year         = 2011,
	month        = {March},
	booktitle    = {26th Aerospace Testing Seminar},
	address      = {Los Angeles, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/barrett-ats2011-parametric.pdf},
	clearance    = {CL\#11-014}
}

@inproceedings{doubleday-chien-lou-2011,
	title        = {Low-latency DESDYNI data products for disaster response, resource management, and other applications},
	author       = {J. Doubleday and S. Chien and Y. Lou},
	year         = 2011,
	month        = {April},
	booktitle    = {34th International Symposium on Remote Sensing of Environment},
	address      = {Sydney, Australia},
	url          = {https://ai.jpl.nasa.gov/public/papers/doubleday-isrse2011-lowlatency.pdf},
	clearance    = {CL\#11-0209},
	project      = {uavsar}
}

@inproceedings{chien-davies-doubleday-et-al-2011,
	title        = {Integrating Multiple Space and Ground Sensors to Track Volcanic Activity},
	author       = {S. Chien and A. Davies and J. Doubleday and D. Tran and S. Jones and E. Kjartansson and K. Vogfjord and M. Gudmundsson and T. Thordarson and D. Mandl},
	year         = 2011,
	month        = {April},
	booktitle    = {34th International Symposium on Remote Sensing of Environment},
	address      = {Sydney, Australia},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-isrse2011-integrating.pdf},
	clearance    = {CL\#11-0177},
	project      = {sensorweb}
}

@inproceedings{chien-doubleday-mclaren-et-al-2011,
	title        = {Using multiple space assets with In-situ measurements to track flooding in Thailand},
	author       = {S. Chien and J. Doubleday and D. Mclaren and D. Tran and C. Khunboa and W. Leelapatra and V. Plergamon and V. Tanpipat and C. Raghavendra and D. Mandl},
	year         = 2011,
	month        = {April},
	booktitle    = {34th International Symposium on Remote Sensing of Environment},
	address      = {Sydney, Australia},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-isrse2011-using.pdf},
	clearance    = {CL\#11-0178},
	project      = {tfs}
}

@inproceedings{thompson-bunte-castano-et-al-2011,
	title        = {Onboard Image Processing for Autonomous Spacecraft Detection of Volcanic Plumes},
	author       = {D. R. Thompson and M. Bunte and R. Castano and S. Chien and R. Greeley},
	year         = 2011,
	month        = {March},
	booktitle    = {42nd Lunar and Planetary Sciences Conference (LPSC 2011)},
	address      = {Woodlands, TX},
	url          = {https://ai.jpl.nasa.gov/public/papers/thompson-lpsc2011-onboard.pdf},
	clearance    = {CL\#11-0001},
	project      = {AgileScience}
}

@inproceedings{bunte-thompson-castano-et-al-2011,
	title        = {Enabling Europa Science through Onboard Feature Detection in Hyper Spectral Images},
	author       = {M. Bunte and D. R. Thompson and R. Castano and S. Chien and R. Greeley},
	year         = 2011,
	month        = {March},
	booktitle    = {42nd Lunar and Planetary Sciences Conference (LPSC 2011)},
	address      = {Woodlands, TX},
	url          = {https://ai.jpl.nasa.gov/public/papers/bunte-lpsc2011-enabling.pdf},
	clearance    = {CL\#11-0026},
	project      = {AgileScience}
}

@inproceedings{davies-chien-2011,
	title        = {A global volcano product for Thermal Emission and Effusion Rate: EO-1/Hyperion and HyspIRI},
	author       = {A. G. Davies and S. Chien},
	year         = 2011,
	month        = {May},
	booktitle    = {HyspIRI Symposium},
	address      = {Greenbelt, MD},
	url          = {https://ai.jpl.nasa.gov/public/papers/davies-hyspsym2011-global.pdf},
	clearance    = {CL\#11-2065},
	project      = {HyspIRI}
}

@inproceedings{bornstein-estlin-clement-et-al-IEEE-Aero-2011,
	title        = {Using a Multi-Core Processor for Rover Autonomous Science},
	author       = {B. Bornstein and T. Estlin and B. Clement and P. Springer},
	year         = 2011,
	month        = {March},
	booktitle    = {IEEE Aerospace Conference (IEEE-Aero 2011)},
	address      = {Big Sky, Montana},
	url          = {https://ai.jpl.nasa.gov/public/papers/bornstein-ieeeaero2011-using.pdf},
	clearance    = {CL\#11-0268}
}

@inproceedings{bornstein-castano-chien-et-al-2011,
	title        = {Spectral segmentation and endmember detection onboard spacecraft},
	author       = {B. Bornstein and R. Castano and S. Chien and D. Thompson and B. Bue},
	year         = 2011,
	month        = {June},
	booktitle    = {IEEE WHISPERS Workshop},
	address      = {Lisbon, Portugal},
	url          = {https://ai.jpl.nasa.gov/public/papers/bornstein-ieeewhispers2011-spectral.pdf},
	clearance    = {CL\#11-1486},
	project      = {ase}
}

@inproceedings{kogge-estlin-bornstein-I@A-2011,
	title        = {Energy Usage in an Embedded Space Vision Application on a Tiled Architecture},
	author       = {P. Kogge and T. Estlin and B. Bornstein},
	year         = 2011,
	month        = {March},
	booktitle    = {Infotech\@Aerospace AIAA Conference (I\@A 2011)},
	address      = {St. Louis, MO},
	url          = {https://ai.jpl.nasa.gov/public/papers/kogge-aiaa2011-energy.pdf},
	clearance    = {CL\#11-1102}
}

@inproceedings{dahl-thompson-mclaren-et-al-IEEE-RSJ2011,
	title        = {Current-Sensitive Path Planning for an Underactuated Free-floating Ocean Sensorweb},
	author       = {K. Dahl and D. Thompson and D. McLaren and Y. Chao and S. Chien},
	year         = 2011,
	month        = {September},
	booktitle    = {International Conference on Intelligent Robots and Systems (IROS 2011)},
	address      = {San Francisco, CA},
	project      = {ooi}
}

@inproceedings{chien-doubleday-mclaren-et-al-IGARSS-2011,
	title        = {Combining Space-based and In-situ measurements to track flooding in Thailand},
	author       = {S. Chien and J. Doubleday and D. Mclaren and D. Tran and C. Khunboa and W. Leelapatra and V. Plergamon and V. Tanpipat and R. Chitradon and S. Boonya-aroonnet and P. Thanapakpawin and A. Meethome and C. Raghavendra and D. Mandl},
	year         = 2011,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGARSS 2011)},
	address      = {Vancouver, BC},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-igarss2011-combining.pdf},
	clearance    = {CL\#11-1779},
	project      = {tfs}
}

@inproceedings{chien-doubleday-mclaren-et-al-IGRSS-2011,
	title        = {Space-based Sensorweb Monitoring of Wildfires in Thailand},
	author       = {S. Chien and J. Doubleday and D. Mclaren and A. Davies and D. Tran and V. Tanpipat and S. Akaakara and A. Ratanasuwan and D. Mandl},
	year         = 2011,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGRSS 2011)},
	address      = {Vancouver, BC},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-igarss2011-spacebased.pdf},
	clearance    = {CL\#11-1778},
	project      = {sensorweb}
}

@inproceedings{doubleday-mclaren-chien-et-al-IJCAI-2011,
	title        = {Using Support Vector Machine Learning to automatically interpret MODIS, ALI, and L-band SAR remotely sensed imagery for hydrology, land cover, and cryosphere applications.},
	author       = {J. Doubleday and D. Mclaren and S. Chien and Y. Lou},
	year         = 2011,
	month        = {July},
	booktitle    = {International Joint Conference on Artificial Intelligence Workshop on Artificial Intelligence in Space (IJCAI 2011)},
	address      = {Barcelona, Spain},
	url          = {https://ai.jpl.nasa.gov/public/papers/doubleday-ijcai2011-using.pdf},
	clearance    = {CL\#11-2245},
	project      = {sensorweb}
}

@inproceedings{clement-estlin-bornstein-IWPSS-2011,
	title        = {Options for Parallelizing a Planning and Scheduling Algorithm},
	author       = {B. Clement and T. Estlin and B. Bornstein},
	year         = 2011,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2011)},
	address      = {Darmstadt, Germany},
	url          = {https://ai.jpl.nasa.gov/public/papers/clement-iwpss2011-options.pdf},
	clearance    = {CL\#11-1804}
}

@inproceedings{mclaren-rabideau-chien-et-al-IWPSS-2011,
	title        = {Scheduling Results for the THEMIS Observation Scheduling Tool},
	author       = {D. McLaren and G. Rabideau and S. Chien and R. Knight and S. Anwar and G. Mehall and P. Christensen},
	year         = 2011,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2011)},
	address      = {Darmstadt, Germany},
	url          = {https://ai.jpl.nasa.gov/public/papers/mclaren-iwpss2011-schedulingresults.pdf},
	clearance    = {CL\#11-1945},
	project      = {clasp}
}

@inproceedings{frank-clement-chachere-et-al-IWPSS-2011,
	title        = {The Challenge of Configuring Model-Based Space Mission Planners},
	author       = {J. Frank and B. Clement and J. Chachere and T. Smith and K. Swanson},
	year         = 2011,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2011)},
	address      = {Darmstadt, Germany},
	url          = {https://ai.jpl.nasa.gov/public/papers/frank-iwpss2011-challenge.pdf},
	clearance    = {CL\#11-1817}
}

@inproceedings{chien-mclaren-rabideau-et-al-IWPSS-2011,
	title        = {Scheduling Onboard Processing for the Proposed HyspIRI Mission},
	author       = {S. Chien and D. Mclaren and G. Rabideau and D. Mandl and J. Hengemihle},
	year         = 2011,
	month        = {June},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2011)},
	address      = {Darmstadt, Germany},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-iwpss2011-scheduling.pdf},
	clearance    = {CL\#11-1781},
	project      = {HyspIRI}
}

@inproceedings{clement-frank-chachere-et-al-ICAPS-2011,
	title        = {The Challenge of Grounding Planning in Simulation in an Interactive Model Development Environment},
	author       = {B. Clement and J. Frank and J. Chachere and T. Smith and K. Swanson},
	year         = 2011,
	month        = {June},
	booktitle    = {Workshop on Knowledge Engineering in Planning and Scheduling, International Conference on Automated Planning and Scheduling (KEPS, ICAPS 2011)},
	address      = {Freiburg, Germany},
	url          = {https://ai.jpl.nasa.gov/public/papers/clement-icaps2011-challenge.pdf},
	clearance    = {CL\#11-1782}
}

@article{schofield-glenn-orcutt-et-al-2010,
	title        = {Automated Sensor Networks to Advance Ocean Science},
	author       = {O. Schofield and S. Glenn and J. Orcutt and M. Arrott and M. Messinger and A. Gangopahyay and W Brown and R. Signell and M. Moline and Y. Chao and S. Chien and D. Thompson and A. Balasuriya and P. Lermisuaux and M. Oliver},
	year         = 2010,
	month        = {September},
	journal      = {Eos, Transactions American Geophysical Union},
	volume       = {91 (39)},
	pages        = {pp. 345--346},
	project      = {ooi}
}

@article{hayden-chien-thompson-et-al-2010,
	title        = {Using Onboard Clustering to Summarize Remotely Sensed Imagery},
	author       = {D. Hayden and S. Chien and D. Thompson and R. Castano},
	year         = 2010,
	month        = {May},
	journal      = {IEEE Intelligent Systems},
	volume       = {25 (3)},
	clearance    = {CL\#10-0773}
}

@article{wyatt-barkely-burleigh-et-al-2010,
	title        = {Enabling Autonomous Exploration via the Solar System Internet},
	author       = {J. Wyatt and E. Barkely and S. Burleigh and T. Estlin and R. Jones and J. Schoolcraft},
	year         = 2010,
	month        = {September/October},
	journal      = {IEEE Intelligent Systems},
	volume       = {25(5)},
	pages        = {9--15}
}

@article{huang-xu-peterson-et-al-2010,
	title        = {Optimized Autonomous Space In-situ Sensor-Web for Volcano Monitoring},
	author       = {R. Huang and M. Xu and N. Peterson and W. Song and B. Shirazi and R. LaHusen and J. Pallister and D. Dzurisin and S. Moran and M. Lisowski and S. Kedar and S. Chien and F. Webb and A. Kiely and J. Doubleday and A. Davies and D. Pieri},
	year         = 2010,
	journal      = {IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing},
	project      = {sensorweb}
}

@article{gleeson-pappalardo-grasby-et-al-2010,
	title        = {Characterization of a sulfur-rich Arctic spring site and field analog to Europa using hyperspectral data},
	author       = {D. F. Gleeson and R. Pappalardo and S. Grasby and M. Anderson and B. Beauchamp and R. Castano and S. Chien and T. Doggett and L. Mandrake and K. Wagstaff},
	year         = 2010,
	journal      = {Remote Sensing of Environment},
	doi          = {doi:10.1016/j.rse.2010.01.011},
	clearance    = {CL\#10-0673},
	project      = {ase}
}

@article{clare-clement-blockley-et-al-2010,
	title        = {Space Vehicle Communication and Networking},
	author       = {L. Clare and B. Clement and R. Blockley and W. Shyy},
	year         = 2010,
	journal      = {The Encyclopedia of Aerospace Engineering},
	clearance    = {CL\#10-1432}
}

@inproceedings{chien-2010,
	title        = {Using Sensorwebs to Monitor Ecosystems: Integrating Sensing, Tracking, and Modeling},
	author       = {S. Chien},
	year         = 2010,
	month        = {June},
	booktitle    = {2nd International Conference on Computational Sustainability},
	address      = {Cambridge, MA},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-compsust2010-using.pdf},
	clearance    = {CL\#10-2762},
	project      = {sensorweb}
}

@inproceedings{barltrop-clement-horvath-et-al-I@A-2010,
	title        = {Automated Test Case Selection for Flight Systems using Genetic Algorithms},
	author       = {K. Barltrop and B. Clement and G. Horvath and C. Lee},
	year         = 2010,
	month        = {April},
	booktitle    = {AIAA Infotech\@Aerospace Conference (I\@A 2010)},
	address      = {Atlanta, GA},
	url          = {https://ai.jpl.nasa.gov/public/papers/barltrop-aiaa2010-automated.pdf},
	clearance    = {CL\#10-1313}
}

@inproceedings{thompson-chien-chao-et-al-ICRA-2010,
	title        = {Path Planning in Strong, Dynamic, Uncertain Currents},
	author       = {D. R. Thompson and S. Chien and Y. Chao and P. Li and B. Cahill and J. Levin and O. Schofield and A. Balasuriya and S. Petillo and M. Arrott and M. Meisinger},
	year         = 2010,
	month        = {May},
	booktitle    = {IEEE Conference on Robotics and Automation (ICRA 2010)},
	address      = {Anchorage, AK},
	url          = {https://ai.jpl.nasa.gov/public/papers/thompson-icra2010-path.pdf},
	clearance    = {CL\#10-0420},
	project      = {ooi}
}

@inproceedings{chien-tran-rabideau-et-al-ICAPS-2010,
	title        = {Timeline-based Space Operations Scheduling with External Constraints},
	author       = {S. Chien and D. Tran and G. Rabideau and S. Schaffer and D. Mandl and S Frye},
	year         = 2010,
	month        = {May},
	booktitle    = {International Conference on Automated Planning and Scheduling (ICAPS 2010)},
	address      = {Toronto, Canada},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-icaps2010-timeline.pdf},
	clearance    = {CL\#10-0794},
	project      = {ASE}
}

@inproceedings{rabideau-chien-mclaren-SpaceOps-2010,
	title        = {Onboard Run-time Goal Selection for Autonomous Operations},
	author       = {G. Rabideau and S. Chien and D. Mclaren},
	year         = 2010,
	month        = {April},
	booktitle    = {International Conference On Space Operations 2010 (SpaceOps 2010)},
	address      = {Huntsville, AL},
	clearance    = {CL\#10-0701}
}

@inproceedings{chien-silverman-rabideau-et-al-SpaceOps-2010,
	title        = {A Direct Broadcast Operations Concept for the HyspIRI Mission},
	author       = {S. Chien and D. Silverman and G. Rabideau and D. Mandl and J. Hengemihle},
	year         = 2010,
	month        = {April},
	booktitle    = {International Conference On Space Operations 2010 (SpaceOps 2010)},
	address      = {Huntsville, AL},
	clearance    = {CL\#10-0650},
	project      = {HyspIRI}
}

@inproceedings{chien-tran-rabideau-et-al-SpaceOps-2010,
	title        = {Improving the Operations of the Earth Observing One Mission via Automated Mission Planning},
	author       = {S. Chien and D. Tran and G. Rabideau and S. Schaffer and D. Mandl and S. Frye},
	year         = 2010,
	month        = {April},
	booktitle    = {International Conference On Space Operations 2010 (SpaceOps 2010)},
	address      = {Huntsville, AL},
	clearance    = {CL\#10-0685},
	project      = {ASE}
}

@inproceedings{chien-doubleday-kedar-et-al-SpaceOps-2010,
	title        = {Autonomous Sensorweb Operations for Integrated Space In-situ monitoring of Volcanic Activity},
	author       = {S. Chien and J. Doubleday and S. Kedar and A. Davies and F. Webb and R. Lahusen and W. Song and B. Shirazi and D. Mandl and S. Frye},
	year         = 2010,
	month        = {April},
	booktitle    = {International Conference On Space Operations 2010 (SpaceOps 2010)},
	address      = {Huntsville, AL},
	clearance    = {CL\#10-0704},
	project      = {sensorweb}
}

@inproceedings{estlin-chien-castano-et-al-SpaceOps-2010,
	title        = {Multi-Asset Coordination for Autonomous Science Campaigns},
	author       = {T. Estlin and S. Chien and R. Castano and D. Gaines and C. de Granville and J. Doubleday and R. Anderson and R. Knight and B. Bornstein and G. Rabideau and B. Tang},
	year         = 2010,
	month        = {April},
	booktitle    = {International Conference On Space Operations 2010 (SpaceOps 2010)},
	address      = {Huntsville, AL},
	url          = {https://ai.jpl.nasa.gov/public/papers/estlin-spaceops2010-ipndemo.pdf},
	clearance    = {CL\#10-0925},
	project      = {rover}
}

@inproceedings{davies-chien-tran-et-al-2010,
	title        = {Onboard Processing of Multispectral and Hyperspectral data of Volcanic Activity for Future Earth Orbiting Missions},
	author       = {A. Davies and S. Chien and D. Tran and J. Doubleday},
	year         = 2010,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGARSS 2010)},
	address      = {Honolulu, HI},
	project      = {ASE}
}

@inproceedings{chien-silverman-davies-et-al-2010,
	title        = {Onboard Instrument Processing Concepts for the HyspIRI Mission},
	author       = {S. Chien and D. Silverman and A. Davies and D. Mclaren and D. Mandl and J. Hengemihle},
	year         = 2010,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGARSS 2010)},
	address      = {Honolulu, HI},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-igarss2010-onboard.pdf},
	clearance    = {CL\#10-2396},
	project      = {HyspIRI}
}

@inproceedings{lou-chien-clark-et-al-2010,
	title        = {Onboard Radar Processing Concepts for the DESDynI Mission},
	author       = {Y. Lou and S. Chien and D. Clark and J. Doubleday},
	year         = 2010,
	month        = {July},
	booktitle    = {International Geoscience and Remote Sensing Symposium (IGARSS 2010)},
	address      = {Honolulu, HI},
	project      = {uavsar}
}

@inproceedings{estlin-bornstein-gaines-et-al-ISAIRAS-2010,
	title        = {AEGIS Automated Targeting for the MER Opportunity Rover},
	author       = {T. Estlin and B. Bornstein and D. Gaines and D. Thompson and R. Castano and R. C. Anderson and C. de Granville and M. Burl and M. Judd and S. Chien},
	year         = 2010,
	month        = {August},
	booktitle    = {International Symposium on Artificial Intelligence Robotics and Automation in Space (ISAIRAS 2010)},
	address      = {Sapporo, Japan},
	url          = {https://ai.jpl.nasa.gov/public/papers/estlin-isairas2010-aegis.pdf},
	abstract     = {The Autonomous Exploration for Gathering Increased Science (AEGIS) system enables automated data collection by planetary rovers. AEGIS software was uploaded to the Mars Exploration Rover (MER) mission's Opportunity rover in December 2009 and has successfully demonstrated automated onboard targeting based on scientist-specified objectives. Prior to AEGIS, images were transmitted from the rover to the operations team on Earth; scientists manually analyzed the images, selected geological targets for the rover's remote-sensing instruments, and then generated a command sequence to execute the new measurements. AEGIS represents a significant paradigm shift---by using onboard data analysis techniques, the AEGIS software uses scientist input to select high-quality science targets with no human in the loop. This approach allows the rover to autonomously select and sequence targeted observations in an opportunistic fashion, which is particularly applicable for narrow field-of-view instruments (such as the MER Mini-TES spectrometer, the MER Panoramic camera, and the 2011 Mars Science Laboratory (MSL) ChemCam spectrometer). This article provides an overview of the AEGIS automated targeting capability and describes how it is currently being used onboard the MER mission Opportunity rover.},
	clearance    = {CL\#10-2113},
	project      = {rover}
}

The Autonomous Exploration for Gathering Increased Science (AEGIS) system enables automated data collection by planetary rovers. AEGIS software was uploaded to the Mars Exploration Rover (MER) mission's Opportunity rover in December 2009 and has successfully demonstrated automated onboard targeting based on scientist-specified objectives. Prior to AEGIS, images were transmitted from the rover to the operations team on Earth; scientists manually analyzed the images, selected geological targets for the rover's remote-sensing instruments, and then generated a command sequence to execute the new measurements. AEGIS represents a significant paradigm shift—by using onboard data analysis techniques, the AEGIS software uses scientist input to select high-quality science targets with no human in the loop. This approach allows the rover to autonomously select and sequence targeted observations in an opportunistic fashion, which is particularly applicable for narrow field-of-view instruments (such as the MER Mini-TES spectrometer, the MER Panoramic camera, and the 2011 Mars Science Laboratory (MSL) ChemCam spectrometer). This article provides an overview of the AEGIS automated targeting capability and describes how it is currently being used onboard the MER mission Opportunity rover.

@inproceedings{clement-barreiro-iatauro-et-al-ISAIRAS-2010,
	title        = {Spatial Planning for International Space Station Crew Operations},
	author       = {B. Clement and J. Barreiro and M. Iatauro and R. Knight and J. Frank},
	year         = 2010,
	month        = {August},
	booktitle    = {International Symposium on Space Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2010)},
	address      = {Sapporo, Japan},
	url          = {https://ai.jpl.nasa.gov/public/papers/clement-isairas2010-spatial.pdf},
	clearance    = {CL\#10-2319}
}

@inproceedings{hayden-thompson-chien-et-al-ISAIRAS-2010,
	title        = {Onboard Clustering of Aerial Imagery for Selective Data Return},
	author       = {D. Hayden and D. Thompson and S. Chien and R. Castano},
	year         = 2010,
	month        = {August},
	booktitle    = {International Symposium on Space Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2010)},
	address      = {Sapporo, Japan},
	url          = {https://ai.jpl.nasa.gov/public/papers/hayden-isairas2010-onboard.pdf},
	clearance    = {CL\#10-0773}
}

@inproceedings{rabideau-chien-mclaren-et-al-ISAIRAS-2010,
	title        = {A Tool for Scheduling THEMIS Observations},
	author       = {G. Rabideau and S. Chien and D. Mclaren and R. Knight and S. Anwar and G. Mehall},
	year         = 2010,
	month        = {August},
	booktitle    = {International Symposium on Space Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2010)},
	address      = {Sapporo, Japan},
	url          = {https://ai.jpl.nasa.gov/public/papers/rabideau-isairas2010-tool.pdf},
	clearance    = {CL\#10-1343},
	project      = {clasp}
}

@inproceedings{rabideau-chien-mclaren-ISAIRAS-2010,
	title        = {Goal Selection for Embedded Systems with Oversubscribed Resources},
	author       = {G. Rabideau and S. Chien and D. Mclaren},
	year         = 2010,
	month        = {August},
	booktitle    = {International Symposium on Space Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2010)},
	address      = {Sapporo, Japan},
	clearance    = {CL\#10-2118}
}

@inproceedings{chien-mclaren-rabideau-et-al-ISAIRAS-2010,
	title        = {Onboard Processing for Low-latency Science for the HyspIRI Mission},
	author       = {S. Chien and D. McLaren and G. Rabideau and D. Silverman and D. Mandl and J. Hengemihle},
	year         = 2010,
	month        = {August},
	booktitle    = {International Symposium on Space Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2010)},
	address      = {Sapporo, Japan},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-isairas2010-low.pdf},
	clearance    = {CL\#10-2396},
	project      = {HyspIRI}
}

@inproceedings{chien-tran-rabideau-et-al-ISAIRAS-2010,
	title        = {Increasing the science return of the EO-1 mission: A case study of the R5 planning upgrade},
	author       = {S. Chien and D. Tran and G. Rabideau and S. Schaffer and D. Mandl and S. Frye},
	year         = 2010,
	month        = {August},
	booktitle    = {International Symposium on Space Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2010)},
	address      = {Sapporo, Japan},
	clearance    = {CL\#10-0794},
	project      = {ASE}
}

@inproceedings{chien-tran-doubleday-et-al-ISAIRAS-2010,
	title        = {A Multi-agent Space, In-situ Volcano Sensorweb},
	author       = {S. Chien and D. Tran and J. Doubleday and A. Davies and S. Kedar and F. WEbb and G. Rabideau and D. Mandl and S. Frye and W. Song and B. Shirazi and R. Lahusen},
	year         = 2010,
	month        = {August},
	booktitle    = {International Symposium on Space Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2010)},
	address      = {Sapporo, Japan},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-isairas2010-multi.pdf},
	clearance    = {CL\#10-0704},
	project      = {sensorweb}
}

@inproceedings{estlin-chien-castano-et-al-ISAIRAS-2010,
	title        = {Coordinating Multiple Spacecraft in Joint Science Campaigns},
	author       = {T. Estlin and S. Chien and R. Castano and J. Doubleday and D. Gaines and R. C. Anderson and C. de Granville and R. Knight and G. Rabideau and B. Tang},
	year         = 2010,
	month        = {August},
	booktitle    = {International Symposium on Space Artificial Intelligence, Robotics, and Automation for Space (ISAIRAS 2010)},
	address      = {Sapporo, Japan},
	url          = {https://ai.jpl.nasa.gov/public/papers/estlin-isairas2010-ipn.pdf},
	clearance    = {CL\#10-0925},
	project      = {sensorweb rover agilescience}
}

@inproceedings{clement-estlin-ICAPS-2010,
	title        = {Exploring Parallelization Options for Planning and Scheduling},
	author       = {B. Clement and T. Estlin},
	year         = 2010,
	month        = {May},
	booktitle    = {Workshop on Scheduling and Planning Applications, International Conference on Automated Planning and Scheduling (ICAPS 2010)},
	address      = {Toronto, Canada},
	url          = {https://ai.jpl.nasa.gov/public/papers/clement-icaps2010-exploring.pdf},
	clearance    = {CL\#10-1326}
}

@inproceedings{rabideau-chien-mclaren-et-al-ICAPS-2010,
	title        = {Scheduling Targeted and Mapping Observations for the THEMIS Instrument Onboard Mars Odyssey},
	author       = {G. Rabideau and S. Chien and D. McLaren and R. Knight},
	year         = 2010,
	month        = {May},
	booktitle    = {Workshop on Scheduling and Planning Applications, International Conference on Automated Planning and Scheduling (SPARK, ICAPS 2010)},
	address      = {Toronto, Canada},
	clearance    = {CL\#10-1343},
	project      = {clasp}
}

@article{chien-knight-stechert-et-al-2009,
	title        = {Integrated Planning and Execution for Autonomous Spacecraft},
	author       = {S. Chien and R. Knight and A. Stechert and R. Sherwood and G. Rabideau},
	year         = 2009,
	month        = {January},
	journal      = {IEEE Aerospace and Electronic Systems},
	volume       = {24 (1)},
	pages        = {23--30}
}

@article{chien-silverman-davies-et-al-2009,
	title        = {Onboard Science Processing Concepts for the HyspIRI Mission},
	author       = {S. Chien and D. Silverman and A. Davies and D. Mandl},
	year         = 2009,
	month        = {November/December},
	journal      = {IEEE Intelligent Systems},
	volume       = {24 (6)},
	clearance    = {CL\#09-4019},
	project      = {HyspIRI}
}

@article{weerdt-clement-2009,
	title        = {Introduction to Planning in Multiagent Systems},
	author       = {M. de Weerdt and B. Clement},
	year         = 2009,
	journal      = {Multiagent and Grid Systems, special issue: Planning in multiagent systems},
	volume       = {5 (4)},
	pages        = {345--355}
}

@inproceedings{chien-doubleday-tran-et-al-2009,
	title        = {Towards an autonomous space in-situ Marine Sensorweb},
	author       = {S. Chien and J. Doubleday and D. Tran and Y. Chao and G. Mahoney and R. Castano and D. Thompson and J. Ryan and R. Kudela and D. Foley and D. Mandl and S. Frye and L. Ong and P. Cappelaere},
	year         = 2009,
	month        = {April},
	booktitle    = {AIAA Infotech Conference},
	address      = {Seattle, WA},
	url          = {https://ai.jpl.nasa.gov/public/papers/chien-aiaa2009-towards.pdf},
	clearance    = {CL\#09-0919},
	project      = {ooi}
}

@inproceedings{thompson-chien-arrott-et-al-ICAPS-2009,
	title        = {A Mission Planning System for Underwater Gliders},
	author       = {D. Thompson and S. Chien and M. Arrott and A. Balasuriya and Y. Chao and P. Li and M. Meisinger and S. Petillo and O. Schofield},
	year         = 2009,
	month        = {September},
	booktitle    = {Applications Showcase, International Conference on Automated Planning and Scheduling (ICAPS 2009)},
	address      = {Thessaloniki, Greece},
	clearance    = {CL\#09-3134},
	project      = {ooi}
}

@inproceedings{mandrake-wagstaff-gleeson-et-al-2009,
	title        = {Onboard SVM Analysis of Hyperion Data to Detect Sulfur Deposits in Arctic Regions},
	author       = {L. Mandrake and K. Wagstaff and D. Gleeson and U. Rebbapragada and D. Tran and R. Castano and S. Chien and R. Pappalardo},
	year         = 2009,
	month        = {August},
	booktitle    = {IEEE WHISPERS Workshop},
	address      = {Grenoble, France},
	url          = {https://ai.jpl.nasa.gov/public/papers/mandrake-whispers2009-onboard.pdf},
	clearance    = {CL\#09-1964},
	project      = {ASE}
}

@inproceedings{chien-tran-schaffer-et-al-2009,
	title        = {Onboard Classification of Hyperspectral Data on the Earth Observing One Mission},
	author       = {S. Chien and D. Tran and S. Schaffer and G. Rabideau and A. Davies and T. Doggett and R. Greeley and F. Ip and V. Baker and J. Doubleday and R. Castano and D. Mandl and S. Frye and L. Ong and F. Rogez and B. Oaida},
	year         = 2009,
	month        = {August},
	booktitle    = {IEEE WHISPERS Workshop},
	address      = {Grenoble, France},
	clearance    = {CL\#09-2040},
	project      = {ASE}
}

@inproceedings{johnston-giuliano-IJCAI-2009,
	title        = {MUSE: The Multi-User Scheduling Environment for Multi-Objective Scheduling of Space Science Missions},
	author       = {M. D. Johnston and M. Giuliano},
	year         = 2009,
	booktitle    = {IJCAI Workshop on Space Applications of AI (IJCAI 2009)},
	address      = {Pasadena, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/johnston-ijcai09-muse.pdf},
	clearance    = {CL\#09-2844}
}

@inproceedings{barrett-dvorak-2009,
	title        = {A Combinatorial Test Suite Generator for Gray-Box Testing},
	author       = {Anthony Barrett and Daniel Dvorak},
	year         = 2009,
	month        = {July},
	booktitle    = {International Conference on Space Mission Challenges for Information Technology},
	address      = {Pasadena, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/barrett-icsmcit2009-combinatorial.pdf},
	clearance    = {CL\#09-1607}
}

@inproceedings{chien-tran-schaffer-et-al-IJCAI-2009,
	title        = {Onboard Science Product Generation on the Earth Observing One Mission and Beyond},
	author       = {S. Chien and D. Tran and S. Schaffer and G. Rabideau and A. G. Davies and T. Doggett and R. Greeley and F. Ip and V. Baker and J. Doubleday and R. Castano and D. Silverman and D. Mandl and S. Frye and L. Ong and P. Campbell and B. Oaida},
	year         = 2009,
	month        = {July},
	booktitle    = {International Joint Conference on Artificial Intelligence Workshop on Artificial Intelligence (IJCAI 2009)},
	address      = {Pasadena, CA},
	clearance    = {CL\#09-3009},
	project      = {ASE}
}

@inproceedings{hayden-thompson-chien-et-al-IJCAI-2009,
	title        = {Onboard Clustering of Aerial Data for Improved Science Return},
	author       = {D. Hayden and D. Thompson and S. Chien and R. Castano},
	year         = 2009,
	month        = {July},
	booktitle    = {International Joint Conference on Artificial Intelligence Workshop on Artificial Intelligence in Space (IJCAI 2009)},
	address      = {Pasadena, CA},
	clearance    = {CL\#09-3096}
}

@inproceedings{mandrake-wagstaff-gleeson-et-al-IJCAI-2009,
	title        = {Hyperspectral Sulfur Detection Using an SVM with Extreme Minority Positive Examples Onboard EO-1},
	author       = {L. Mandrake and K. Wagstaff and D. Gleeson and U. Rebbapragada and D. Tran and R. Castano and S. Chien and R. Pappalardo},
	year         = 2009,
	month        = {July},
	booktitle    = {International Joint Conference on Artificial Intelligence Workshop on Artificial Intelligence in Space (IJCAI 2009)},
	address      = {Pasadena, CA},
	clearance    = {CL\#09-2372},
	project      = {ASE}
}

@inproceedings{barrett-bass-laubach-et-al-IWPSS-2009,
	title        = {A Retrospective Snapshot of the Planning Processes in MER Operations After 5 Years},
	author       = {Anthony Barrett and Deborah Bass and Sharon Laubach and Andrew Mishkin},
	year         = 2009,
	month        = {July},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2009)},
	address      = {Pasadena, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/barrett-iwpss2009-retrospective.pdf},
	clearance    = {CL\#09-2346},
	project      = {rover}
}

@inproceedings{rabideau-chien-mclaren-IWPSS-2009,
	title        = {Tractable Goal Selection with Oversubscribed Resources},
	author       = {G. Rabideau and S. Chien and D. McLaren},
	year         = 2009,
	month        = {July},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2009)},
	address      = {Pasadena, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/rabideau-iwpss09-tractable.pdf},
	clearance    = {CL\#09-2369}
}

@inproceedings{rabideau-chien-IWPSS-2009,
	title        = {Runtime Goal Selection with Oversubscribed Resources},
	author       = {G. Rabideau and S. Chien},
	year         = 2009,
	month        = {July},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2009)},
	address      = {Pasadena, CA},
	clearance    = {CL\#09-2369}
}

@inproceedings{johnston-tran-arroyo-et-al-IWPSS-2009,
	title        = {Request-Driven Scheduling for NASA's Deep Space Network},
	author       = {M. D. Johnston and D. Tran and B. Arroyo and C. Page},
	year         = 2009,
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2009)},
	address      = {Pasadena, CA},
	url          = {https://ai.jpl.nasa.gov/public/papers/johnston-iwpss09-request.pdf},
	clearance    = {CL\#09-2267},
	project      = {SSS}
}

@inproceedings{knight-schaffer-clement-IWPSS-2009,
	title        = {Power Planning in the International Space Station Domain},
	author       = {R. Knight and S. Schaffer and B. Clement},
	year         = 2009,
	month        = {July},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2009)},
	address      = {Pasadena, CA}
}

@inproceedings{chien-tran-rabideau-et-al-IWPSS-2009,
	title        = {Planning Operations of the Earth Observing Satellite EO-1: A Case study in representing spacecraft operations constraints},
	author       = {S. Chien and D. Tran and G. Rabideau and S. Schaffer and D. Mandl},
	year         = 2009,
	month        = {July},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2009)},
	address      = {Pasadena, CA},
	clearance    = {CL\#09-2306},
	project      = {ASE}
}

@inproceedings{estlin-chien-castano-et-al-IWPSS-2009,
	title        = {Coordinating Multiple Spacecraft Assets for Joint Science Campaigns},
	author       = {T. Estlin and S. Chien and R. Castano and J. Doubleday and D. Gaines},
	year         = 2009,
	month        = {July},
	booktitle    = {International Workshop on Planning and Scheduling for Space (IWPSS 2009)},
	address      = {Pasadena, CA},
	clearance    = {CL\#09-2363},
	project      = {sensorweb rover}
}

@inproceedings{knight2009compressed,
	title        = {Compressed Large-scale Activity Scheduling and Planning (CLASP) Applied to DESDynI},
	author       = {Knight, Russell and Hu, Steven},
	year         = 2009,
	booktitle    = {Proceedings of the Sixth International Workshop in Planning and Scheduling for Space (IWPSS 2009)},
	address      = {Pasadena, CA},
	project      = {clasp}
}

@inproceedings{thompson-chien-chao-et-al-ICAPS-2009,
	title        = {Glider Mission Planning in a Dynamic Ocean Sensorweb},
	author       = {D. Thompson and S. Chien and Y. Chao and P. Li and M. Arrott and M. Meisinger and A. Balasuriya and S. Petillo and O. Schofield},
	year         = 2009,
	month        = {September},
	booktitle    = {SPARK Workshop on Scheduling and Planning Applications, Intl Conference on Automated Planning and Scheduling (ICAPS 2009)},
	address      = {Thessaloniki, Greece},
	clearance    = {CL\#09-3134},
	project      = {ooi}
}

@inproceedings{chien-tran-rabideau-et-al-ICAPS-2009,
	title        = {Challenges in Representing and reasoning with spacecraft operations constraints: A case study with Earth Observing One},
	author       = {S. Chien and D. Tran and G. Rabideau and S. Schaffer and D. Mandl and S. Frye},
	year         = 2009,
	month        = {September},
	booktitle    = {SPARK Workshop on Scheduling and Planning Applications, Intl Conference on Automated Planning and Scheduling (ICAPS 2009)},
	address      = {Thessaloniki, Greece},
	clearance    = {CL\#09-2306},
	project      = {ASE}
}

@article{johnston-2008,
	title        = {An Evolutionary Algorithm Approach to Multi-Objective Scheduling of Space Network Communications},
	author       = {M. D. Johnston},
	year         = 2008,
	journal      = {Intelligent Automation and Soft Computing},
	volume       = 14,
	pages        = {367--376},
	url          = {https://ai.jpl.nasa.gov/public/papers/johnston-iasc08-evolutionary.pdf},
	clearance    = {CL\#07-1243},
	project      = {SSS}
}

@article{davies-calkins-scharenbroich-et-al-2008,
	title        = {Multi-Instrument Remote and In Situ Observations of the Erebus Volcano (Antarctica) Lava Lake in 2005: a Comparison with the Pele Lava Lake on the Jovian Moon Io},
	author       = {A. Davies and J. Calkins and L. Scharenbroich and R. Vaughan and R. Wright and P. Kyle and R. Castano and S. Chien and D. Tran},
	year         = 2008,
	journal      = {Journal of Volcanology and Geothermal Research},
	project      = {ase sensorweb}
}

@article{castano-fukunaga-biesiadecki-et-al-2008,
	title        = {Automatic detection of dust devils and clouds at Mars},
	author       = {A. Castano and A. Fukunaga and J. Biesiadecki and L. Neakrase and P. Whelley and R. Greeley and M. Lemmon and R. Castano and S. Chien},
	year         = 2008,
	month        = {October},
	journal      = {Machine Vision and Applications},
	volume       = {19 (5-6)},
	pages        = {467--482},
	clearance    = {CL\#07-1244},
	project      = {rover merwatch}
}

@article{peterson-anusuya-rangappa-shirazi-et-al-2008,
	title        = {Volcano Monitoring: A Case Study in Pervasive Computing},
	author       = {N. Peterson and L. Anusuya-Rangappa and B. A. Shirazi and W. Song and R. Huang and D. Tran and S. Chien and R. LaHusen},
	year         = 2008,
	journal      = {Pervasive Computing: Innovations in Intelligent Multimedia and Applications, Book Chapter of "Computer Communications and Networks"},
	organization = {Springer Publishers},
	project      = {sensorweb}
}

@inproceedings{mandl-sohlberg-justice-et-al-2008-june,
	title        = {Sensor Web 2.0, Connecting Earth's Sensors via the Internet},
	author       = {D. Mandl and R. Sohlberg and C. Justice and S. Ungar and T. Ames and S. Frye and S. Chien and P. Cappelaere and D. Tran and L. Derezinski and G. Paules},
	year         = 2008,
	month        = {June},
	booktitle    = {Earth Science and Technology Conference},
	address      = {College Park, MD},
	project      = {sensorweb}
}

@inproceedings{song-shirazi-lahusen-et-al-2008,
	title        = {Optimized Autonomous Space In-Situ Sensor-Web},
	author       = {W. Song and B. Shirazi and R. LaHusen and S. Kedar and S. Chien and F. Webb and A. Davies and J. Doubleday and D. Tran},
	year         = 2008,
	month        = {December},
	booktitle    = {Fall Meeting of the American Geophysical Union, IN23D-01},
	address      = {San Francisco, CA},
	project      = {sensorweb}
}

@inproceedings{howe-arabshahi-businger-et-al-2008,
	title        = {Autonomous Mission Design And Data Fusion: Laying the Groundwork for Decadal Mission Swath Altimetry and Ocean Vector Winds},
	author       = {B. Howe and P. Arabshahi and S. Businger and Y. Chao and S. Chien and A. Gray},
	year         = 2008,
	month        = {December},
	booktitle    = {Fall Meeting of the American Geophysical Union, IN31A-1122},
	address      = {San Francisco, CA}
}

@inproceedings{clement-schaffer-ICAPS-2008,
	title        = {Exploiting C-TAEMS Models for Policy Search},
	author       = {B. Clement and S. Schaffer},
	year         = 2008,
	booktitle    = {ICAPS 2008 Workshop on Multiagent Planning (ICAPS 2008)},
	url          = {https://ai.jpl.nasa.gov/public/papers/clement-icaps08-exploiting.pdf},
	clearance    = {CL\#08-2535}
}

@inproceedings{song-kedar-chien-et-al-2008,
	title        = {Optimized Autonomous Space In-situ Sensor-Web for Volcano Monitoring},
	author       = {W. Song and B. Shirazi; S. Kedar and S. Chien and F. Webb and D. Tran and A. Davies and D. Pieri and R. LaHusen and J. Pallister and D. Dzurisin and S. Moran and M. Lisowski},
	year         = 2008,
	month        = {March},
	booktitle    = {IEEE Aerospace Conference (IEEE-Aero 2008)},
	address      = {Big Sky, MT},
	project      = {sensorweb}
}