Safe Long-Range Travel for Planetary Rovers through Forward Sensing

Y. Nevatia; F  Bulens; J.  Gancet; Yang GAO; S  Al-Mili; R Kandiyil; R.U  Sonsalla; M  Frische; T.  Vogele; Elie Allouis; K.  Skocki; S.  Ransom; C.  Saaj; Marcus Matthews; Brian  Yeomans; L.  Richter; TP  Kaupisch

Safe Long-Range Travel for Planetary Rovers through Forward Sensing

Y. Nevatia
, F Bulens
, J. Gancet
, Yang GAO
, S Al-Mili
, R Kandiyil
, R.U Sonsalla
, M Frische
, T. Vogele
, Elie Allouis
, K. Skocki
, S. Ransom
, C. Saaj
, Marcus Matthews
, Brian Yeomans
, L. Richter
, TP Kaupisch

Research output: Contribution to conference › Conference Paper › peer-review

Abstract

Despite the increase in autonomous capabilities of mobile robots, planetary exploration rovers are severely limited in their operational paradigms. Current rover operations, especially the traverse operations, involve
day to day planning and simulation with human involvement for the estimation of potential dangers faced by the rover. Additionally, due to the large investment represented by the rovers, operations tend to be carried out in a cautious manner, with minimal autonomous deliberation. Such limits on the daily traverse, though motivated by concerns of safety and
overall success, are not sufficient for future missions. This paper describes an operations concept for safe, long range traverses for planetary rovers based on forward sensing of terrain trafficability, and presents the software architecture enabling such operations.

Original language	English
Publication status	Published - Jan 2013
Externally published	Yes

Cite this

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title = "Safe Long-Range Travel for Planetary Rovers through Forward Sensing",

abstract = "Despite the increase in autonomous capabilities of mobile robots, planetary exploration rovers are severely limited in their operational paradigms. Current rover operations, especially the traverse operations, involve day to day planning and simulation with human involvement for the estimation of potential dangers faced by the rover. Additionally, due to the large investment represented by the rovers, operations tend to be carried out in a cautious manner, with minimal autonomous deliberation. Such limits on the daily traverse, though motivated by concerns of safety and overall success, are not sufficient for future missions. This paper describes an operations concept for safe, long range traverses for planetary rovers based on forward sensing of terrain trafficability, and presents the software architecture enabling such operations.",

author = "Y. Nevatia and F Bulens and J. Gancet and Yang GAO and S Al-Mili and R Kandiyil and R.U Sonsalla and M Frische and T. Vogele and Elie Allouis and K. Skocki and S. Ransom and C. Saaj and Marcus Matthews and Brian Yeomans and L. Richter and TP Kaupisch",

year = "2013",

month = jan,

language = "English",

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TY - CONF

T1 - Safe Long-Range Travel for Planetary Rovers through Forward Sensing

AU - Nevatia, Y.

AU - Bulens, F

AU - Gancet, J.

AU - GAO, Yang

AU - Al-Mili, S

AU - Kandiyil, R

AU - Sonsalla, R.U

AU - Frische, M

AU - Vogele, T.

AU - Allouis, Elie

AU - Skocki, K.

AU - Ransom, S.

AU - Saaj, C.

AU - Matthews , Marcus

AU - Yeomans, Brian

AU - Richter, L.

AU - Kaupisch, TP

PY - 2013/1

Y1 - 2013/1

N2 - Despite the increase in autonomous capabilities of mobile robots, planetary exploration rovers are severely limited in their operational paradigms. Current rover operations, especially the traverse operations, involve day to day planning and simulation with human involvement for the estimation of potential dangers faced by the rover. Additionally, due to the large investment represented by the rovers, operations tend to be carried out in a cautious manner, with minimal autonomous deliberation. Such limits on the daily traverse, though motivated by concerns of safety and overall success, are not sufficient for future missions. This paper describes an operations concept for safe, long range traverses for planetary rovers based on forward sensing of terrain trafficability, and presents the software architecture enabling such operations.

AB - Despite the increase in autonomous capabilities of mobile robots, planetary exploration rovers are severely limited in their operational paradigms. Current rover operations, especially the traverse operations, involve day to day planning and simulation with human involvement for the estimation of potential dangers faced by the rover. Additionally, due to the large investment represented by the rovers, operations tend to be carried out in a cautious manner, with minimal autonomous deliberation. Such limits on the daily traverse, though motivated by concerns of safety and overall success, are not sufficient for future missions. This paper describes an operations concept for safe, long range traverses for planetary rovers based on forward sensing of terrain trafficability, and presents the software architecture enabling such operations.

M3 - Conference Paper

ER -

Safe Long-Range Travel for Planetary Rovers through Forward Sensing

Abstract

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