Robotics Commons^™

Planetary Exploration Via Fully Automatic Topological Structure Extraction Using Adaptive Resonance, Jonathan Kissi

Electronic Thesis and Dissertation Repository

Renewed interest in Solar System exploration, along with ongoing improvements in computing, robotics and instrumentation technologies, have reinforced the case for remote science acquisition systems development in space exploration. Testing systems and procedures that allow for autonomously collected science has been the focus of analogue field deployments and mission planning for some time, with such systems becoming more relevant as missions increase in complexity and ambition. The introduction of lidar and laser scanning-type instruments into the geological and planetary sciences has proven popular, and, just as with the established image and photogrammetric methods, has found widespread use in several research …

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 …