A Tool for Autonomous Ground-Based Rover Planning

Thispaperdiscussesa proof-of-conceptprototypefor ground-basedautomaticgenerationof validatedrover commandsequences from high-level science and engineeringactivities.Thisprototypeis basedonASPEN, the AutomatedSchedulingand PlanningEnvironment. ThisArtificial Intelligence(AI)basedplanningand schedulingsystemwillautomaticallygeneratea command sequencethatwillexecutewithinresourceconstraintsand satisfy flight rules. Commandingthe roverto achieve missiongoalsrequiressignificantknowledgeof therover design,accessto the low-levelrovercommandset, andan understandingof the performancemetricsrating the desirabilityof alternativesequences.It also requires coordinationwithexternaleventssuchas orbiterpasses and day/night cycles. Anautomatedplanningand schedulingsystemencodesthis knowledgeand uses searchandreasoningtechniquesto automaticallygenerate low-levelcommandsequenceswhilerespecting rover operability constraints, science and engineering preferences,and also adhering to hard temporal constrain...

• Type: Conference
• Year: 2001
• Where: FLAIRS
• Authors: Rob Sherwood, Andrew Mishkin, Tara A. Estlin, Steve A. Chien, Barbara Engelhardt, Brian Cooper, Gregg Rabideau
• Keywords: Artificial Intelligence, FLAIRS 2001, Proof-of-conceptprototypefor Ground-basedautomaticgenerationof Validatedrover, Rover Operability Constraints, Sequencethatwillexecutewithinresourceconstraintsand Satisfy Flight