Robotics Commons^™

Ai Applications On Planetary Rovers, Alexis David Pascual

Electronic Thesis and Dissertation Repository

The rise in the number of robotic missions to space is paving the way for the use of artificial intelligence and machine learning in the autonomy and augmentation of rover operations. For one, more rovers mean more images, and more images mean more data bandwidth required for downlinking as well as more mental bandwidth for analyzing the images. On the other hand, light-weight, low-powered microrover platforms are being developed to accommodate the drive for planetary exploration. As a result of the mass and power constraints, these microrover platforms will not carry typical navigational instruments like a stereocamera or a laser …

Automated Image Interpretation For Science Autonomy In Robotic Planetary Exploration, Raymond Francis

Electronic Thesis and Dissertation Repository

Advances in the capabilities of robotic planetary exploration missions have increased the wealth of scientific data they produce, presenting challenges for mission science and operations imposed by the limits of interplanetary radio communications. These data budget pressures can be relieved by increased robotic autonomy, both for onboard operations tasks and for decision- making in response to science data.

This thesis presents new techniques in automated image interpretation for natural scenes of relevance to planetary science and exploration, and elaborates autonomy scenarios under which they could be used to extend the reach and performance of exploration missions on planetary surfaces.

Two …