Increased Flexibility and Robustness of Mars Rovers

  • Bresina L
  • Golden K
  • Smith E
 et al. 
  • 14


    Mendeley users who have this article in their library.
  • N/A


    Citations of this article.


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.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

There are no full text links


  • L.~J. Bresina

  • K Golden

  • E.~D. Smith

  • R Washington

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free