Paper Info
Title
Oasis: Onboard autonomous science investigation system for opportunistic rover science
Abstract
The Onboard Autonomous Science Investigation System has been developed to enable a rover to identify and react to serendipitous science opportunities. Using the FIDO rover in the Mars Yard at JPL, we have successfully demonstrated a fully autonomous opportunistic science system. The closed loop system tests included the rover acquiring image data, finding rocks in the image, analyzing rock properties and identifying rocks that merit further investigation. When the system on the rover alerts the rover to take additional measurements of interesting rocks, the planning and scheduling component determines if there are enough resources to meet this additional science data request. The rover is then instructed to either turn toward the rock, or to actually move closer to the rock to take an additional, close-up image. Prototype dust devil and cloud detection algorithms were delivered to an infusion task which refined the algorithms specifically for Mars Exploration Rovers (MER). These algorithms have been integrated into the MER flight software and were recently uploaded to the rovers on Mars. (C) 2007 Wiley Periodicals, Inc.
Year
DOI
Venue
2007
10.1002/rob.20192
JOURNAL OF FIELD ROBOTICS
Field
DocType
Volume
Cloud detection,Mars Exploration Program,Simulation,Scheduling (computing),Upload,Software,Engineering,Dust devil,Exploration of Mars
Journal
24
Issue
ISSN
Citations 
5
1556-4959
17
PageRank 
References 
Authors
1.11
11
8
Name
Order
Citations
PageRank
Rebecca Castaño1828.78
Tara A. Estlin214615.11
Robert C. Anderson3343.52
Daniel M. Gaines49011.38
Andres Castano519623.76
Benjamin Bornstein6322.96
Caroline Chouinard7262.52
Michele Judd8312.25