NASA NTRS · 20130009457
Reachability Maps for In Situ Operations
Abstract
This work covers two programs that accomplish the same goal: creation of a "reachability map" from stereo imagery that tells where operators of a robotic arm can reach or touch the surface, and with which instruments. The programs are "marsreach" (for MER) and "phxreach." These programs make use of the planetary image geometry (PIG) library. However, unlike the other programs, they are not multi-mission. Because of the complexity of arm kinematics, the programs are specific to each mission.
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Deen, Robert G., Leger, Patrick C., Robinson, Matthew L., Bonitz, Robert G.. 2013-01-01. Reachability Maps for In Situ Operations. https://ntrs.nasa.gov/citations/20130009457
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