Increased Flexibility and Robustness of Mars Rovers

  • Bresina L
  • Golden K
  • Smith E
 et al. 
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Abstract

file - 59.pdf, Citations 7,
Abstract: Our overall objective is to improve the productivityof
Mars rovers by increasing the flexibility and robustness of their
autonomous behavior. To achieve this objective, we set out to
increase the on-board autonomy of rovers and enable commanding at a
higher level with a more flexible command language. In February,
1999, we demonstrated some of our rover autonomy technologies as
part of a Marsokhod rover field test that simulated aspects of the
Mars '01#'05 missions. In this paper, we present the commanding
language employed in this field test, called the Contingent Rover
Language (CRL), and describe the ground tools and on-board executive
capabilities that were developed to generate and execute CRL plans.
A key feature of CRL is that it enables the encoding of contingent
plans specifying what to do if a failure occurs, as well as what to
do if a\tserendipitous science opportunity arises.

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Authors

  • L.~J. Bresina

  • K Golden

  • E.~D. Smith

  • R Washington

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