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Planning in the Dark: Robotic Sorties into
Lunar Cold Traps(A preliminary report)
Planning in the Dark: Robotic Sorties into
Lunar Cold Traps(A preliminary report)
Robert A. MorrisNASA Ames Research
Robert A. MorrisNASA Ames Research
ContributorsContributors
Michael SimsPaul TompkinsBrian GlassAri JönssonJeremy FrankPaul MorrisJohn Bresina
Michael SimsPaul TompkinsBrian GlassAri JönssonJeremy FrankPaul MorrisJohn Bresina
Vijayakumar Baskaran
Kevin GreeneMatthew Boyce
Lina KhatibDavid SmithLeslie Keely
Vijayakumar Baskaran
Kevin GreeneMatthew Boyce
Lina KhatibDavid SmithLeslie Keely
Talk OutlineTalk OutlineMissions to Lunar cold traps
Robotic requirementsMission scenarioDecision-level rover autonomy
Prototype implementationFuture work and summary
Missions to Lunar cold traps
Robotic requirementsMission scenarioDecision-level rover autonomy
Prototype implementationFuture work and summary
Missions to Lunar
Craters
Missions to Lunar
Craters Goal: verify the presence, and map distribution of ice in permanently shadowed areas in craters near poles. Scientific value ISRU for manned outposts.
Requires surface instruments. Mobility options
Rover (focus of this paper)shooting sensors into crater with
mortar free-flying "hopper”Crash landing spacecraft (LCROSS)
Goal: verify the presence, and map distribution of ice in permanently shadowed areas in craters near poles. Scientific value ISRU for manned outposts.
Requires surface instruments. Mobility options
Rover (focus of this paper)shooting sensors into crater with
mortar free-flying "hopper”Crash landing spacecraft (LCROSS)
Mobility Challenges and
Requirements
Mobility Challenges and
RequirementsTraverse of 10s of meters in mostly unknown terrainAdvanced navigation and safeguarding technology
Traversal in dark and shadowStrobe synchronized with stereo cameras
Precision drill placementDownward facing sensor
Return to light before stored energy expendedFollowing tracks to exit
Traverse of 10s of meters in mostly unknown terrainAdvanced navigation and safeguarding technology
Traversal in dark and shadowStrobe synchronized with stereo cameras
Precision drill placementDownward facing sensor
Return to light before stored energy expendedFollowing tracks to exit
Surface operations in
cold traps
Surface operations in
cold trapsNeutron detector for “sniffing” concentrations of hydrogen
Drill and sample acquisition tool for subsurface investigation.
Composition instruments for analyzing core samples.
Neutron detector for “sniffing” concentrations of hydrogen
Drill and sample acquisition tool for subsurface investigation.
Composition instruments for analyzing core samples.
Objectives Objectives
Design realistic mission scenario for cold trap exploration
Define architecture and software systems for explorationFocus on decision-level autonomy
Implement architecture, demonstrate mission scenario in simulation or analogue setting
Design realistic mission scenario for cold trap exploration
Define architecture and software systems for explorationFocus on decision-level autonomy
Implement architecture, demonstrate mission scenario in simulation or analogue setting
The case for Decision Level
Autonomy
The case for Decision Level
Autonomy 1.5 sec one way communication delay makes safeguarded teleoperation viable.
At poles no direct comm with Earth 75% of the time.Still blackout periods with orbiter.
Autonomy offers a strategy for Maintaining a high degree of interactivity with rover.
Minimizing idle time/maximizing usefulness
Cost-efficient alternative to orbiter.
1.5 sec one way communication delay makes safeguarded teleoperation viable.
At poles no direct comm with Earth 75% of the time.Still blackout periods with orbiter.
Autonomy offers a strategy for Maintaining a high degree of interactivity with rover.
Minimizing idle time/maximizing usefulness
Cost-efficient alternative to orbiter.
Rover Mission Scenario
Rover Mission Scenario
Daily sorties from lighted area in crater to cold trap.Operates on battery powerNo communication while in cold trap
Daily planning for Exploration of unexplored region, Data collectionSelection of drill siteAutonomous drilling.
Must return to light before battery charge depleted.
Daily sorties from lighted area in crater to cold trap.Operates on battery powerNo communication while in cold trap
Daily planning for Exploration of unexplored region, Data collectionSelection of drill siteAutonomous drilling.
Must return to light before battery charge depleted.
Daily Mission Cycle and
Architecture
Daily Mission Cycle and
Architecture
Build Plan Ground
RechargeOn-board
UplinkPlan
Traverse To Dark/Downlink Data
ExploreDrill/Sample
Return to lightDownlinkData
Monitoring/Teleoperation
Analyze Data
Ground Capabilities:•Automated planning•Monitoring•Data Analysis and Visualization
On-board Capabilities:•Robust Execution•Incremental Path Planning•Autonomous Site Selection
Ground Capabilities
Ground Capabilities
VisualizationDisplay of data from previous sorties
Waypoint selection for next sortie
PlanningIntegrated activity and path planning
Monitoring and ControlTrack progress while in communication range
Safeguarded tele-operation
VisualizationDisplay of data from previous sorties
Waypoint selection for next sortie
PlanningIntegrated activity and path planning
Monitoring and ControlTrack progress while in communication range
Safeguarded tele-operation
On-board AutonomyOn-board Autonomy
Decision layerRobust executionPlan refinement/revision
Functional LayerIncremental path planning
Drilling/Sample/AnalysisNavigation in the dark
Decision layerRobust executionPlan refinement/revision
Functional LayerIncremental path planning
Drilling/Sample/AnalysisNavigation in the dark
Decision-level autonomy
Decision-level autonomy
Robust ExecutionFinding best drill site while maintaining safety
Plan refinement/revision (“Decisions”)Where to “sniff” nextExtending/halting exploration
Choice of best drill siteControl of drilling duration
Robust ExecutionFinding best drill site while maintaining safety
Plan refinement/revision (“Decisions”)Where to “sniff” nextExtending/halting exploration
Choice of best drill siteControl of drilling duration
ExampleExample
QuickTime™ and aTIFF (LZW) decompressor
are needed to see this picture.
Ground generates path A -> B -> C.Rover allowed to “sniff” in circle.While in the dark, rover monitors H count and battery.Selects D as best drill site and executes drill activity.Return to light by retracing its tracks.
Prototype Implementation
Prototype Implementation
Viz3D visualization and remote surface reconstruction environment
IDEAAgent-based robust control system based on reactive planning
Viz3D visualization and remote surface reconstruction environment
IDEAAgent-based robust control system based on reactive planning
Visualization of Sortie Data for
Planning
Visualization of Sortie Data for
Planning2D graphical organization of results from previous sortiesPaths from previous sorties.Data analyzed from drilling.Fine-grained terrain data.Hydrogen concentration data
Used by ground mission planners to build plan for next sortie.
2D graphical organization of results from previous sortiesPaths from previous sorties.Data analyzed from drilling.Fine-grained terrain data.Hydrogen concentration data
Used by ground mission planners to build plan for next sortie.
Viz 2D Topological Map
Viz 2D Topological Map
Reactive Planning and Execution
with IDEA
Reactive Planning and Execution
with IDEA Model-based autonomy
architecture for development of control systems
Reactive planner generates control procedure invocations
Plan database stores current state of agent
Plan runner implements agent cycle (sense/decide/act)
Model-based autonomy architecture for development of control systems
Reactive planner generates control procedure invocations
Plan database stores current state of agent
Plan runner implements agent cycle (sense/decide/act)
PlanRunner
Plan Service Layer
Search Engine
SearchControl
Plan Database
ActivityModel
Reactive Planner
IDEA Agent Architecture
Current Status and Future WorkCurrent Status
and Future WorkDemo of command cycle in simulationWaypoint selection from 2D map.Simulated uplinkNavigation to waypointExploration while “sniffing” for water
Drill site selection and executionReturn to light and data uplink
Future workIntegration with EnsembleDemonstration on rover in lunar analog setting
Demo of command cycle in simulationWaypoint selection from 2D map.Simulated uplinkNavigation to waypointExploration while “sniffing” for water
Drill site selection and executionReturn to light and data uplink
Future workIntegration with EnsembleDemonstration on rover in lunar analog setting
Related Work In Rover Autonomy
Related Work In Rover Autonomy
Autonomous navigation and odometry on MER
Long-range traverse in Mars-analogue setting
Instrument placement on science targets
Sub-surface drilling Opportunistic science
Autonomous navigation and odometry on MER
Long-range traverse in Mars-analogue setting
Instrument placement on science targets
Sub-surface drilling Opportunistic science
Summary of paperSummary of paperRobotic cold trap exploration for search for ice on lunar poles.
Role of autonomous decision making.
Mission scenario for repeated cold trap sorties.
Architecture combining ground- and on-board planning and execution.
Robotic cold trap exploration for search for ice on lunar poles.
Role of autonomous decision making.
Mission scenario for repeated cold trap sorties.
Architecture combining ground- and on-board planning and execution.
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