Mission Simulation Facility: Simulation Support for Autonomy Development

Abstract

The Mission Simulation Facility (MSF) supports research in autonomy technology for planetary exploration vehicles. Using HLA (High Level Architecture) across distributed computers, the MSF connects users autonomy algorithms with provided or third-party simulations of robotic vehicles and planetary surface environments, including onboard components and scientific instruments. Simulation fidelity is variable to meet changing needs as autonomy technology advances in Technical Readiness Level (TRL). A virtual robot operating in a virtual environment offers numerous advantages over actual hardware, including availability, simplicity, and risk mitigation. The MSF is in use by researchers at NASA Ames Research Center (ARC) and has demonstrated basic functionality. Continuing work will support the needs of a broader user base.