Intelligent rover decision-making in response to exogenous events
Caroline Chouinard, Tara A. Estlin, Dan Gaines, Forest Fisher · NASA Technical Reports Server (NASA) · 2005
This paper presents an introduction to the CLEAR (Closed Loop Execution for Autonomous Rovers) system which performs rover command generation and re-planning due to both inconsistencies with time and resource estimations and opportunities encountered during execution. CLEAR also makes use of onboard feature extraction and data analysis tools and is able to dynamically adjust the rover's current plan to achieve opportunistic science. The challenges faced maintaining domain specific information (e.g., science priorities) in an uncertain environment are also presented along with the successes demonstrated with several methods of system testing.