Engineering topics
Estlin, T.
Publications and source records attributed to Estlin, T..
Mars 2020 Engineering Cameras: A Next-Generation Imaging System for Mars Exploration
No abstract provided
Intelligent rover decision-making in response to exogenous events
This paper presents an introduction to the CLEAR system which performs rover command generation and re-planning, the challenges faced maintaining domain specific information in an uncertain environment, and the successes demonstrated with several methods of system testing.
Science Alert Demonstration with a Rover Traverse Science Data Analysis System
The Onboard Autonomous Science Investigation System (OASIS) evaluates geologic data gathered by a planetary rover. This analysis is used to prioritize the data for transmission, so that the data with the highest science value is transmitted to Earth. In addition, the onboard analysis results are used to identify science opportunities. A planning and scheduling component of the system enables the rover to take advantage of the identified science opportunity. OASIS is a NASA-funded research project that is currently being tested on the FIDO rover at JPL for the use on future missions.
Autonomous onboard traverse science system
This paper provides a brief overview of the entire OASIS system and how it analyzes one type of data - grayscale images taken by the rover for engineering and hazard avoidance purposes.
CLARAty and challenges of developing interoperable robotic software
In this article, we will present an overview of the Coupled Layered Architecture for Robotic Autonomy.
Machine learning challenges in Mars rover traverse science
The successful implementation of machine learning in autonomous rover traverse science requires addressing challenges that range from the analytical technical realm, to the fuzzy, philosophical domain of entrenched belief systems within scientists and mission managers.
Machine learning chalenges in Mars rover traverse science
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Learning and planning for Mars Rover science
In this paper, we describe the OASIS system, which provides autonomous capabilities for dynamically pursuing these science-collection opportunities during long-range rover traverses.
CLARAty decision layer overview
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CLARAty: an architecture for reusable robotic software
In this article, we will present an overview of the Coupled Layered Architecture for Robotic Autonomy. CLARAty develops a framework for generic and reusable robotic components that can be adapted to a number of heterogeneous robot platforms.
An approach to autonomous operations for remote mobile robotic exploration
This paper presents arguments for a balanced approach to modelling and reasoning in an autonomous robotic system. The framework discussed utilizes both declarative and procedural modelling to define the domain, rules, and constraints of the system and also balances the use of deliberative and reactive reasoning during execution.
Mars rover image data prioritization for increases mission science return
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Onboard decision making for rover autonomy: from a technologist viewpoint
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CLEaR: Closed Loop Execution and Recovery - a framework for unified planning and execution
Intelligent behavior for robotic agents requires a careful balance of fast reactions and deliberate consideration of long-term ramifications. The need for this balance is particularly acute in space applications, where hostile environments demand fast reactions, and remote locations dictate careful management of consumables that cannot be replenished.
Toward Developing Reusable Software Components for Robotic Applications
We will present an overview of the CLARAty architecture which aims at developing reusable software components for robotic systems.
A tool for autonomous ground-based rover planning
This paper discusses a proof-of-concept prototype for ground-based automatic generation of validated rover command sequences from high-level science and engineering activities.
The CLARAty architecture for robotic autonomy
This paper presents an overview of a newly developed Coupled Layer Architecture for Robotic Autonomy (CLARAty), which is designed for improving the modularity of system software while more tightly coupling the interaction of autonomy and controls.