Technology Development and Testing for Enhanced Mars Rover Sample Return Operations
This paper describes several Jet Propulsion Laboratory research efforts being conducted to support Mars sample return in the coming decade.
robots rovers↗
Engineering topics
Hayati, S.
Publications and source records attributed to Hayati, S..
Advanced Design and Implementation of a Control Architecture for Long Range Autonomous Planetary Rovers
An advanced design and implementation of a Control Architecture for Long Range Autonomous Planetary Rovers is presented using a hierarchical top-down task decomposition, and the common structure of each design is presented based on feedback control theory.
rovers↗
A Comparison of Two Path Planners for Planetary Rovers
The paper presents two path planners suitable for planetary rovers. The first is based on fuzzy description of the terrain, and genetic algorithm to find a traversable path in a rugged terrain.
rovers↗
An Integrated Architecture for Cooperation Rovers
The paper presents a rover execution architecture for controlling multiple, cooperating rovers. The overall goal of this architecture is to coordinate multiple rovers in performing complex tasks for planetary science.
multi-rover↗
Long Range Navigation For Mars Rovers Using Sensor-Based Path Planning and Visual Localisation
The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a plantary mission.
Mars↗
Autonomous Rover Technology for Mars Sample Return
This paper summarizes a series of experimental results in the evaluation and demonstration of planetary rover autonomy, with a particular emphasis on rover system technology capabilities under development for a 2005 Mars sample return mission and its precursor missions.
rovers↗
Fuzzy Reactive Piloting for Continuous Driving of Long Range Autonomous Planetary Micro-Rovers
A complete piloting control subsystem for a highly autonomous long range rover will be defined in order to identify the key control functions needed to achieve continuous driving that maximizes the range and number of interesting scientific sites visited during the limited life time of a planetary rover.
Autonomous↗
A Hopping Robot for Planetary Exploration
This paper presents the design and some preliminary analysis of a hopping robot for planetary exploration.
rover↗
A Comparison of Two Path Planners for Planetary Rovers
The paper presents two path planners suitable for planetary rovers. The first is based on fuzzy description of the terrain, and genetic algorithm to find a traversable path in a rugged terrain. The second planner uses a global optimization method with a cost function that is the path distance divided by the velocity limit obtained from the consideration of the rover static and dynamic stability. A description of both methods is provided, and the results of paths produced are given which show the effectiveness of the path planners in finding near optimal paths. The features of the methods and their suitability and application for rover path planning are compared
Tarokh, M.↗
Advanced Design and Implementation of a Control Architecture for Long Range Autonomous Planetary Rovers
An advanced design and implementation of a Control Architecture for Long Range Autonomous Planetary Rovers is presented using a hierarchical top-down task decomposition, and the common structure of each design is presented based on feedback control theory. Graphical programming is presented as a common intuitive language for the design when a large design team is composed of managers, architecture designers, engineers, programmers, and maintenance personnel. The whole design of the control architecture consists in the classic control concepts of cyclic data processing and event-driven reaction to achieve all the reasoning and behaviors needed. For this purpose, a commercial graphical tool is presented that includes the mentioned control capabilities. Messages queues are used for inter-communication among control functions, allowing Artificial Intelligence (AI) reasoning techniques based on queue manipulation. Experimental results show a highly autonomous control system running in real time on top the JPL micro-rover Rocky 7 controlling simultaneously several robotic devices. This paper validates the sinergy between Artificial Intelligence and classic control concepts in having in advanced Control Architecture for Long Range Autonomous Planetary Rovers.
Martin-Alvarez, A.↗
Robotic Planetary Surface Exploration
At the present time several spacecraft are exploring the solar system. Cassini, perhaps the last large JPL spacecraft, is on its way to Saturn and its moon Titan. Galileo spacecraft is finishing its exploration of Jupiter and its moons.
robotics surface exploration Mars Cassini↗
The Rocky 7 Rover: A Mars Sciencecraft Prototype
This paper describes the design and implementation of a small rover for future Mars missions requiring long traverses and rover-based science experiments at the Jet Propulsion Laboratory.
navigation perception science instrument pointing ↗
Rover Technology for Mars Surface Exploration
Provided is an overview of emerging technologies in miniaturized roving vehicles that enable new types of low-cost planetary missions, those which are aimed at detailed survey of extended surface areas, collection and analysis of interesting samples, and in-situ analysis of scientific data. New types of planetary surface data can be acquired at low-cost through the use of innovative technologies.
Mars Rover Surface Exploration Pathfinder↗
Ground Control Station Development for the Dexterous Orbital Servicing System
The Dexterous Orbital Servicing System (DOSS) flight test program is being developed by NASA to verify the ability to utilize telerobotics for servicing Space Station Alpha. The development of a ground control station for Earth based control of DOSS is described. This flight test program provides a manipulator which is mounted on a multi-purpose experiment support structure in a Space Shuttle bay.
remote robotic control dexterous orbital servicing↗
Space Telerobotics and Rover Research at JPL
The goal of our program is to develop, integrate and demonstrate the science and technology of remote telerobotics leading to increases in operational capability, safety, cost effectiveness and probability of success of NASA missions. To that end, the program fosters the development of innovative system concepts for on-orbit servicing and planetary surface missions which use telerobotic systems as an important central component. These concepts are carried forward into develoments which are used to evaluate and demonstrate technology in realistic flight and ground experiments.
telepresence rover technology robotic assisted mic↗
The JPL Serpentine Robot: A 12 DOF System for Inspection
The Serpentine Robot is a prototype hyper-redundant (snake-like) manipulator system developed at the Jet Propulsion Laboratory. It is designed to navigate and perform tasks in obstructed and constrained environments in which conventional 6 DOF manipulators cannot function. Described are the robot mechanical design, a joint assembly low level inverse kinematic algorithm, control development, and applications.
robotics Serpentine robot automation kinematics↗
Virtual Window Telepresence System for Telerobotics Inspection
Telerobotic inspection can be used in environments that are too hazardous, removed or expensive for direct human inspection. Telerobotic inspection is a complex task requiring an operator to control and coordinate a robot and sensors, while monitoring and interpreting sensor data to detect flaws. A virtual window telepresence system has been developed to aid the operator in performing these inspections.
telepresnece↗