Arid
DOI10.1002/rob.20192
OASIS: Onboard autonomous science investigation system for opportunistic rover science
Castano, Rebecca; Estlin, Tara; Anderson, Robert C.; Gaines, Daniel M.; Castano, Andres; Bornstein, Benjamin; Chouinard, Caroline; Judd, Michele
通讯作者Castano, Rebecca
来源期刊JOURNAL OF FIELD ROBOTICS
ISSN1556-4959
EISSN1556-4967
出版年2007
卷号24期号:5页码:379-397
英文摘要

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. (C) 2007 Wiley Periodicals, Inc.


类型Article
语种英语
国家USA
收录类别SCI-E
WOS记录号WOS:000246282800003
WOS关键词ARCHITECTURE ; SHAPE
WOS类目Robotics
WOS研究方向Robotics
资源类型期刊论文
条目标识符http://119.78.100.177/qdio/handle/2XILL650/154994
作者单位(1)CALTECH, Jet Prop Lab, Div Sci, Pasadena, CA 91109 USA
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GB/T 7714
Castano, Rebecca,Estlin, Tara,Anderson, Robert C.,et al. OASIS: Onboard autonomous science investigation system for opportunistic rover science[J],2007,24(5):379-397.
APA Castano, Rebecca.,Estlin, Tara.,Anderson, Robert C..,Gaines, Daniel M..,Castano, Andres.,...&Judd, Michele.(2007).OASIS: Onboard autonomous science investigation system for opportunistic rover science.JOURNAL OF FIELD ROBOTICS,24(5),379-397.
MLA Castano, Rebecca,et al."OASIS: Onboard autonomous science investigation system for opportunistic rover science".JOURNAL OF FIELD ROBOTICS 24.5(2007):379-397.
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