Mission Statement
The overall objective of this project is to advance the state of
the art in ground operations and onboard autonomy for flight rovers.
The expected benfits are to enable increased rover productivity and
science return without risk to rover safety and to support multi-rover
missions and human presence on Mars. The primary near-term goal is to
infuse the concept of contingent command sequence into rover
flight operations.
Our initial testbed was the Marsokhod planetary rover (pictured above, left), and our technologies
were demonstrated on this platform in the February 1999 Mojave field test. Our new testbed is a FIDO class rover,
dubbed K9 (pictured above, right), which was first demonstrated in a
joint Ames-JPL field test in May 2000.
Point of
Contact: John L. Bresina
(jbresina@mail.arc.nasa.gov)
Current Activities
Related Activities
Papers
- Bresina, J.L. and Washington, R.
2001.
Robustness via Run-time Adaptation of Contingent Plans
In Proceedings of the AAAI-2001 Spring Syposium: Robust Autonomy.
Stanford, CA
A PDF version and a PostScript version of the symposium
paper are available.
- Bresina, J.L. and Washington, R.
2000.
Expected Utility Distributions for Flexible, Contingent Execution
In Proceedings of the AAAI-2000 Workshop: Representation
Issues for Real-World Planning Systems.
Austin, TX
A PDF version and a PostScript version of the workshop
paper are available.
- Washington, R. and Bresina, J.L.
2000.
Utility Estimation for Contingent Execution: Preliminary Report
In Proceedings of the Second NASA International Workshop on
Planning and Scheduling for Space.
San Francisco, CA
A PDF version and a PostScript version of the workshop
paper are available.
- Washington, R.
2000
On-Board Real-Time State and Fault Identification for
Rovers
In Proceedings of the 2000 IEEE International Conference on
Robotics and Automation.
A PDF version and a
PostScript version of the
conference paper are available.
- Aycard, O. and Washington, R.
2000
State Identification for Planetary Rovers: Learning and
Recognition
In Proceedings of the 2000 IEEE International Conference on
Robotics and Automation.
A PDF version and a
PostScript version of the
conference paper are available.
- Bresina, J., Golden, K., Smith, D.E., Washington, R.
1999.
Increased Flexibility and Robustness for Mars Rovers
In Proceedings of the Fifth International Symposium on
Artificial Intelligence, Robotics, and Automation in Space.
ESTEC, Noordwijk, Netherlands
A PDF version and a PostScript version of the
conference paper are available. A PDF version and a PostScript version of the
presentation slides are also available.
- Washington, R., Golden, K., Bresina, J.
1999.
Plan Execution, Monitoring, and Adaptation for Planetary Rovers.
In Proceedings of the IJCAI-99 Workshop, Scheduling and
Planning meet Real-time Monitoring in a Dynamic and Uncertain
World.
Stockholm, Sweden.
A PostScript version of the
conference paper are available.
- Washington, R., Golden, K., Bresina, J., Smith, D.E.,
Anderson, C., and Smith, T.
1999.
Autonomous Rovers for Mars
Exploration.
In Proceedings of the 1999 IEEE Aerospace Conference.
Aspen, CO.
A PDF version and a PostScript version of the conference
paper are available. A PDF version of the presentation slides is also
available.
-
Bresina, J., Dorais, G., Golden, K., Smith D., and Washington R.
1998.
Autonomous Rovers for Human Exploration of Mars.
In Proceedings of the Mars Society Founding Convention.
Boulder, CO.
A PDF version and a PostScript version of the
conference paper are available.
Current Personnel
- Kevin Bass
- Judd Bowman
- John L. Bresina
- Maria Bualat
- Larry Edwards
- Mike Fair
- Lorenzo Flueckiger
- Linda Kobayashi
- Liam Pedersen
- Rich Washington
- Anne Wright
Other Contributors
- Mike Costa
- Matthew Deans
- Keith Golden
- Bob Kanefsky
- David Miller
- Charles Neveu
- Eric Park
- Michael Sims
- David E. Smith
Alumni
- Corin Anderson
- Olivier Aycard
- Ted Blackmon
- Greg A. Dorais
- Vineet Gupta
- Gary Haith
- Aaron Kline
- Cesar Mina
- Laurent Nguyen
- Barney Pell
- John Schreiner
- Kurt Schwehr
- Katherine Smith
- Marion Smith
- Sergey Sokolov
- Hans Thomas
- Brian Williams
- Eric Zbinden
Collaborations
Postdoc page for Intelligent Robotics Group
Return to Autonomy &
Robotics Area.
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Computational
Sciences
Division |
Information Sciences &
Technology Directorate |
NASA Ames
Research Center |
Center of Excellance for
Information Technology |
NASA |
Last Updated: Mon Mar 19 18:59:40 2001
J.L. Bresina
