Date of Original Version

9-2012

Type

Conference Proceeding

Abstract or Description

The Reliable Autonomous Surface Mobility (RASM) architecture and algorithms model terrains, plan paths, and control motion to enable rovers to navigate autonomously through kilometers of barren terrain. We have developed requirements for rovers from the needs of field investigations and mission scenarios of the last decade. Thus far the RASM architecture has been ported to five rovers and tested in field sites in Hawaii, California and Canada. We report on the architectural framework, the under lying algorithms , and representative results.

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Published In

Proceedings ‐ International Symposium on Artificial Intelligence, Robotics and Automation in Space (i‐SAIRAS 2012),.