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Autonomous Rover Navigation on Unknown Terrains: Functions and Integration

Simon Lacroix, Anthony Mallet, David Bonnafous, Gerard Bauzil, Sara Fleury, Matthieu Herrb, Raja Chatila
2002 The international journal of robotics research  
Autonomous long range navigation in partially known planetary-like terrains is yet an open challenge for robotics.  ...  All these activities have to be scheduled, triggered, controlled and interrupted according to the rover context.  ...  Qualitative Model To give the rover qualitative informations on the traversability of the perceived terrain, we developed a method that produces a description of the terrain in terms of navigability classes  ... 
doi:10.1177/027836402128964152 fatcat:arvola2orfhgvjh7mfegoxgite

Autonomous Rover Navigation on Unknown Terrains: Functions and Integration

Simon Lacroix, Anthony Mallet, David Bonnafous, Gérard Bauzil, Sara Fleury, Matthieu Herrb, Raja Chatila
2002 The international journal of robotics research  
Autonomous long range navigation in partially known planetary-like terrains is yet an open challenge for robotics.  ...  All these activities have to be scheduled, triggered, controlled and interrupted according to the rover context.  ...  Qualitative Model To give the rover qualitative informations on the traversability of the perceived terrain, we developed a method that produces a description of the terrain in terms of navigability classes  ... 
doi:10.1177/0278364902021010841 fatcat:jtpmtvdajnewbbamsdlgx2qeli

Autonomous Rover Navigation on Unknown Terrains Functions and Integration [chapter]

Simon Lacroix, Anthony Mallet, David Bonnafous, Gérard Bauzil, Sara Fleury, Matthieu Herrb, Raja Chatila
Experimental Robotics VII  
Autonomous long range navigation in partially known planetary-like terrains is yet an open challenge for robotics.  ...  All these activities have to be scheduled, triggered, controlled and interrupted according to the rover context.  ...  Qualitative Model To give the rover qualitative informations on the traversability of the perceived terrain, we developed a method that produces a description of the terrain in terms of navigability classes  ... 
doi:10.1007/3-540-45118-8_50 dblp:conf/iser/LacroixMBBFHC00 fatcat:psoedq3ybze2patbrvm23grxsu

Adaptive and intelligent navigation of autonomous planetary rovers — A survey

Cuebong Wong, Erfu Yang, Xiu-Tian Yan, Dongbing Gu
2017 2017 NASA/ESA Conference on Adaptive Hardware and Systems (AHS)  
Reducing the reliance on human experts for navigational tasks on Mars remains a major challenge due to the harsh and complex nature of the Martian terrains.  ...  2017) Adaptive and intelligent navigation of autonomous planetary rovers -a survey. In: 2017 NASA/ESA Conference on Adaptive Hardware and Systems, AHS 2017. IEEE, Piscataway, N.J., pp. 237-244.  ...  Terrain Traversability Analysis Truly autonomous rover navigation cannot be realized on environments such as the surface of Mars without first enabling the system to obtain, understand and use terrain  ... 
doi:10.1109/ahs.2017.8046384 dblp:conf/ahs/WongYYG17 fatcat:iwlth237anf7dhrbpy3seuul3q

AUTONOMY AND PATH PLANNING IN A PLANETARY ROVER

P Pooja Patel .
2016 International Journal of Research in Engineering and Technology  
Autonomous hazard avoidance can be achieved using a stereo camera which evaluates terrain safety and to avoid obstacles.  ...  In this paper we present the autonomous and path planning functionalities of a Planetary Rover system.  ...  In Autonomous navigation the rover identifies hazards such as steep and unknown terrains which are difficult to traverse through and therefore steers accordingly to avoid these obstacles.  ... 
doi:10.15623/ijret.2016.0505024 fatcat:wllw2yv4zffihdd7znxmltqncm

Autonomy for Mars Rovers: Past, Present, and Future

M. Bajracharya, M.W. Maimone, D. Helmick
2008 Computer  
the vehicles used to explore the martian surface require a high degree of autonomy to navigate challenging and unknown terrain, investigate targets, and detect scientific events.  ...  However, the rovers used to explore the surface of Mars must constantly interact with challenging and unknown terrain.  ...  SoJouRnER Sojourner's autonomous capabilities consisted of terrain navigation, contingency response, and resource management. 1 As Figure 2a shows, the rover could autonomously navigate through flat  ... 
doi:10.1109/mc.2008.479 fatcat:6eycv3jksvhyvohrfvvn7ee7vq

A GNC Architecture for Planetary Rovers with Autonomous Navigation Capabilities [article]

Martin Azkarate, Levin Gerdes, Luc Joudrier, Carlos J. Pérez-del-Pulgar
2019 arXiv   pre-print
The first level is an efficient implementation of the basic functionalities for autonomous navigation based on hazard detection, local path replanning, and trajectory control with visual odometry.  ...  Both navigation levels have been validated on planetary analogue field test campaigns.  ...  INTRODUCTION Autonomous navigation is considered a crucial technology to succeed on future planetary exploration missions with rovers.  ... 
arXiv:1911.09975v1 fatcat:7p3fzwtmxnhihofrl5evhn35cq

Global planning on the Mars Exploration Rovers: Software integration and surface testing

Joseph Carsten, Arturo Rankin, Dave Ferguson, Anthony Stentz
2009 Journal of Field Robotics  
In order to localize and approach scientifically interesting targets, the rovers employ an on-board navigation system.  ...  Autonomous navigation with hazard avoidance (AutoNav) is currently performed using a local path planner called GESTALT (Grid-based Estimation of Surface Traversability Applied to Local Terrain) that incorporates  ...  CMUs work was performed under the MTP Reliable and Efficient Long-Range Autonomous Rover Navigation task, and JPLs work was performed under the MTP D* Integration into MER task.  ... 
doi:10.1002/rob.20287 fatcat:y536osbx7rf3zly3hrujziw4ke

Space Robotics

Alex Ellery
2004 International Journal of Advanced Robotic Systems  
The primary goal for a planetary rover is to navigate in an unknown, hostile terrain, recognise and negotiate obstacles, deploy scientific instrumentation and acquire samples from scientific targets.  ...  The primary role for such a capability as part of an onboard autonomous navigation system is to provide for robust autonomous obstacle negotiation capability.  ... 
doi:10.5772/5809 fatcat:35j4x5jjqfeqvnwpqhxtekxnry

Global Path Planning on Board the Mars Exploration Rovers

Joseph Carsten, Arturo Rankin, Dave Ferguson, Anthony Stentz
2007 2007 IEEE Aerospace Conference  
In order to localize and approach scientifically interesting targets, the rovers employ an on-board navigation system.  ...  Autonomous navigation with hazard avoidance (AutoNav) is currently performed using a local path planner called GESTALT (Grid-based Estimation of Surface Traversability Applied to Local Terrain).  ...  AUTONOMOUS NAVIGATION SYSTEM Overview The purpose of AutoNav is to enable the rover to safely traverse unknown terrain.  ... 
doi:10.1109/aero.2007.352683 fatcat:fxzujc66dzaw5hebp7wskokucy

The LRU Rover for Autonomous Planetary Exploration and Its Success in the SpaceBotCamp Challenge

Martin J. Schuster, Christoph Brand, Sebastian G. Brunner, Peter Lehner, Josef Reill, Sebastian Riedel, Tim Bodenmuller, Kristin Bussmann, Stefan Buttner, Andreas Domel, Werner Friedl, Iris Grixa (+8 others)
2016 2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)  
A robot had to autonomously explore a moon-like rough-terrain environment, locate and collect two objects and assemble them after transport to a third object -which the LRU did on its first try, in half  ...  We successfully demonstrated the autonomous capabilities of our LRU at the SpaceBotCamp challenge, a national robotics contest with focus on autonomous planetary exploration.  ...  It has to navigate unknown, rough terrain to explore the area and arrive at scientifically relevant locations.  ... 
doi:10.1109/icarsc.2016.62 dblp:conf/icarsc/SchusterBBLRRBB16 fatcat:uem7jfmblfggze227jmsbtei2e

Increased Mars Rover Autonomy using AI Planning, Scheduling and Execution

Tara Estlin, Daniel Gaines, Caroline Chouinard, Rebecca Castano, Benjamin Bornstein, Michele Judd, Issa Nesnas, Robert Anderson
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
This paper presents technology for performing autonomous commanding of a planetary rover.  ...  Through the use of AI planning, scheduling and execution techniques, the OASIS autonomous science system provides capabilities for the automated generation of a rover activity plan based on science priorities  ...  Manuscript navigate through unknown terrain.  ... 
doi:10.1109/robot.2007.364236 dblp:conf/icra/EstlinGCCBJNA07 fatcat:j25ca7dhozd4pfysxb6r3473gq

Algorithmic solution and simulation results for vision-based autonomous mode of a planetary rover [chapter]

Marina Kolesnik, Gerhard Paar
1997 Lecture Notes in Computer Science  
A vision based navigation (VBN) system is chosen as a basic tool to provide autonomous operations of a planetary rover during space missions.  ...  As it is specified in the LEDA Moon exploration project currently under focus by the European Space Agency ESA, during the autonomous mode the rover should perform the following operations: on-board absolute  ...  The following statements can be drawn on the basis of simulation sessions: • 3D autonomous rover navigation on a Moon-like terrain is feasible. • The accuracy and robustness of each algorithmic component  ... 
doi:10.1007/3-540-63460-6_178 fatcat:kigkqdta3nczrgn3evcqrqgfgy

Mars exploration rover engineering cameras

Allan R. Eisenman, Carl C. Liebe, Mark Maimone, Mark A. Schwochert, Reg G. Willson, Hiroyuki Fujisada, Joan B. Lurie, Konradin Weber
2001 Sensors, Systems, and Next-Generation Satellites V  
Finally, one stereo pair of wide-angle Hazard Avoidance cameras will be mounted on the front (and one pair on the back) of each rover to autonomously generate range maps of the surrounding area for obstacle  ...  A stereo pair of Navigation cameras is mounted on a gimbal with the Panoramic camera pair. The Navigation camera pair is used for traverse planning and general imaging.  ...  STEREO NAVIGATION WITH THE HAZCAMS AND NAVCAMS The MER rovers will have the ability to navigate safely through unknown and potentially hazardous terrain, using autonomous passive stereo vision to detect  ... 
doi:10.1117/12.450671 fatcat:iilbnszssbgbvpmaxcehnywqri

An island-model framework for evolving neuro-controllers for planetary rover control

Martin Peniak, Barry Bentley, Davide Marocco, Angelo Cangelosi, Christos Ampatzis, Dario Izzo, Francesco Biscani
2010 The 2010 International Joint Conference on Neural Networks (IJCNN)  
Autonomous navigation and robust obstacle avoidance are prerequisites for the successful operation of a planetary rover.  ...  Typical approaches to tackling this problem rely on complex and computationally expensive navigation strategies based upon the creation of 3D maps of the environment.  ...  As mentioned, the ability to act autonomously, in particular the ability to navigate efficiently within an unknown environment, is a basic requirement for any planetary robotic vehicle.  ... 
doi:10.1109/ijcnn.2010.5596942 dblp:conf/ijcnn/PeniakBMCAIB10 fatcat:ca6tedh45rcjtpfpzdaxnuqbci
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