1. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University A Tale of Two Rovers: Mission Scenarios for Kilometer-Scale Site Survey David Thompson and David Wettergreen The Field Robotics Center, Carnegie Mellon

2. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Agenda Scarab: Surveying lunar regolith in polar craters  Mission scenario  Mobility  Navigation and localization Zoë: Intelligent surficial mapping  Feature detection and classification  Kilometer-scale adaptive site survey Conclusions

3. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Technologies for site survey Terrain Difficulty Autonomous Traverse Distance Autonomous Data Collection Dark Navigation Slope and Crater Mobility Robust Localization Science Autonomy Integration with Orbital Data

4. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Scarab: lunar mission scenario Land in crater Supervised autonomy (polar orbiter relay)‏ Site Survey of regolith composition, hydrogen content 7 months, 25 drill sites over 25 kilometers

5. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Mobility requirements Challenging terrain  extreme slopes  loose soil Navigation and localization in lunar- analog environments 5.0cm/s dark navigation

6. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University A stable science / drilling platform 270kg mass  250 kg to counter drill thrust  low CG  high torque 100kg Science payload 1m coring drill Dark Navigation Sensors Radioisotope Generator Simulator Avionics Science Payload Regolith Drill Core System Body Raise/Lower Linkage & Actuator Hazard Avoidance Sensors “Differencing” Linkage

7. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Suspension Skid steering Passive terrain matching / body averaging Actuated rocker arms permit leveling / drilling on slopes Kneels during drilling operations  improve stability  maximize drilling depth / minimize wasted travel

8. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Auto-leveling

9. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Inchworming Inchworm: lower cycle c o m p a cti o n re si st a n c e tractive force tractive force Inchworm: raise cycle Conventional rolling Theoretical benefits max slope: 19 vs. 23 degrees drawbar pull: 1038 vs 1281N

10. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Inchworming

11. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Navigation Dark navigation with active sensing Laser light striping Laser scan merging (courtesy NASA ARC)‏ Traversability analysis, D* path planning

12. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University NEPTEC TriDAR Raster resolution to 512x512 30-degree FOV accurate geologic maps for drill site selection

13. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Localization Wheel odometery is unreliable Kalman-filtered IMU  3-axis ring laser gyro  3-axis acceleration Optical velocity sensor with ground lighting

14. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Field Tests 10h 50m, 1090m (2.8cm/s) June – Mobility and autonomy testing at Moses lake WA November – Science payload tests in Hawaii

15. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Agenda Scarab: Surveying lunar regolith in polar craters  Mission scenario  Mobility  Navigation and localization Zoë: Intelligent surficial mapping  Feature detection and classification  Kilometer-scale adaptive site survey Conclusions

16. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Zoë: Surficial Survey Mission Multiple-kilometer autonomous traverses 1m/s continuous travel in open terrain Autonomous science feature recognition, data collection, and mapping Tests at Amboy Crater, Mojave desert, CA image courtesy Dom Jonak, CMU

17. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Autonomous VISNIR acquisition Automatic rock detection Wide-baseline stereo estimates rock position Autonomous spectrum classification wavelength (nm)‏ 0.0 1.0 0.8 0.6 0.4 0.2 85013501850 2350 350 reflectance basalt sediment

18. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University MVJ detector for variable lighting cascade 1 input image max h1h1 h2h2 hnhn... nonrock h1h1 h2h2 hnhn... nonrock cascade 2‏ h1h1 h2h2 hnhn... nonrock cascade m...... rock bounding boxes candidate bounding boxes

19. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Rock detection and visual servo SIFT matching recognizes and tracks dozens of targets Science-relevant maps Permits visual servo

20. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Spectrum acquisition

21. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Tracking performance 50 30 40 20 10 Lost Track Rock Spectra Miss Rock Spectra Rock Spectra Rock Spectra Lost Track Lost Track Lost Track Detection and tracking: 21 (± 3.9) rock spectra in 40 min Blind pointing: 0 rock spectra

22. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Rock detection N rocks final rover position run 1 run 2 run 3 3.0 2.0 1.0 0.0 run 4 Rock Detection Precision: 90.8% (±2.6, =0.05)‏

23. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Adaptive surficial mapping

24. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Adaptive surficial mapping “Gaussian process” terrain model Site survey informed by surface and orbital data Maximum-entropy sampling chooses optimal observation sites Spatial inference ? Cross-sensor inference ?

25. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Inference Result 450m autonomous traverse Extrapolates by interpreting orbital images Discovers map parameters on the fly

26. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Informative path planning Science-driven Adds robustness to execution uncertainty

27. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Recovery from Navigation Error

28. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Previously reported at iSAIRAS 2008 – Thompson, Wettergreen Fidelity of Reconstructed Maps Fixed, transect:74% (±0.09)‏ Fixed, coverage pattern: 75% (±0.05)‏ Adaptive, low-res orbital: 81% (±0.03)‏ Adaptive, high-res orbital: 87% (±0.01)‏ 0.9 0.8 0.7 0.6 0.5 0 50 100 150 200 250 300 number of returned features reconstruction accuracy

29. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Conclusions Mobility improvements facilitate new operational modes involving kilometer- scale site survey Future work  Selective data return (image analysis and spatial statistics)‏  Data fusion for science and navigation (DEMs, orbital and surface images)‏

30. ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University Thanks! Field Robotics Center: David Wettergreen, Red Whittaker, David Kohanbash, Paul Bartlett, Dom Jonak, Jason Zigler Johnson, Glenn, NORCAT, ARC Scarab: NASA Human-Robot Systems research program, grants NNX08-AJ99G (Robert Ambrose) and NNX07-AE30G (John Caruso). Zoë: NASA ASTEP NNG0- 4GB66G (David Lavery)‏