INTELLIGENT ROVER DECISION-MAKING IN RESPONSE TO EXOGENOUS EVENTS

Abstract: The command sequences used by the first Martian exploratory rover to traverse the unexplored terrain were limited in flexibility and resulted in large amounts of intermittent rover idle time. The rover traveled slowly and cautiously only a few meters each day at best. Today the twin Mars Exploration Rovers (MER) have traveled many kilometers across the Martian terrain using autonomous navigation [1]. As navigation autonomy has enabled rovers to accomplish more science than previously possible, decision-making autonomy can also enable a rover to increase its science by making dynamic decisions in an unpredictable environment and by capturing new, scientifically interesting data while maintaining primary objectives. This paper presents an introduction to the CLEAR system which performs rover command generation and re-planning, the challenges faced maintaining domain specific information (e.g., science priorities) in an uncertain environment, and the successes demonstrated with several methods of system testing