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Oasis: Onboard autonomous science investigation system for opportunistic rover science
Author(s) -
Castano Rebecca,
Estlin Tara,
Anderson Robert C.,
Gaines Daniel M.,
Castano Andres,
Bornstein Benjamin,
Chouinard Caroline,
Judd Michele
Publication year - 2007
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20192
Subject(s) - mars exploration program , mars rover , computer science , upload , scheduling (production processes) , exploration of mars , cloud computing , real time computing , artificial intelligence , geology , engineering , astrobiology , operating system , operations management , physics
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. © 2007 Wiley Periodicals, Inc.