Metrics for planetary rover planning & scheduling algorithms

In addition to its utility in terrestrial-based applications, Automated Planning and Scheduling (P&S) has had a growing impact on space exploration. Such applications require an influx of new technologies to improve performance while not comprimising safety. As a result, a reliable method to rapidly assess the effectiveness of new P&S algorithms would be desirable to ensure the fulfillment of of all software requirements. This paper introduces RoBen, a missionindependent benchmarking tool that provides a standard framework for the evaluation and comparison of P&S algorithms. RoBen considers metrics derived from the model (the system on which the P&S algorithm will operate) as well as user input (e.g., desired problem complexity) to automatically generate relevant problems for quality assessment. A thorough description of the algorithms and metrics used in RoBen is provided, along with the preliminary test results of a P&S algorithm solving RoBen-generated problems.