A computer program coordinates the activities of multiple instrumented robotic vehicles of the "rover" type intended for use in scientific exploration. The program is a master/slave, distributed version of the ASPEN planning software, other versions of which have been reported in several prior NASA Tech Briefs articles. On the basis of an input set of goals and the initial conditions of each rover, the program generates a sequence of activities that satisfy the goals while obeying the resource constraints and rules of operation of each rover. The program includes a central planning subprogram that assigns goals to individual rovers in such a way as to minimize the total traversal time of all the rovers while maximizing the scientific return. The remainder of planning is distributed among the individual rovers: each rover runs a subprogram that plans its activities to attain the goal(s) assigned to it.
This program was written by Tara Estlin, Darren Mutz, Steve Chien, Anthony Barrett, and Gregg Rabideau of Caltech for NASA's Jet Propulsion Laboratory. For further information, access the Technical Support Package (TSP) free on-line at www.nasatech.com/tsp under the Software category.
This software is available for commercial licensing. Please contact Don Hart of the California Institute of Technology at (818) 393-3425. Refer to NPO-21031.
This Brief includes a Technical Support Package (TSP).
Software for Coordinating Multiple Exploratory Robots
(reference NPO-21031) is currently available for download from the TSP library.
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Overview
The document presents a technical support package from NASA's Jet Propulsion Laboratory (JPL) detailing a distributed planning system designed to coordinate multiple robotic rovers for planetary exploration. The primary objective of this system is to enhance the efficiency and effectiveness of data collection during scientific missions on planetary surfaces, such as Mars.
The paper outlines the advantages of utilizing multiple rovers over a single rover. These advantages include the ability to cover larger areas, collect more data, perform complex tasks, and increase mission success through redundancy. The system is designed to ensure that the rovers operate in a coordinated manner, dividing science goals among themselves and sharing the information they gather.
A key feature of the system is its dynamic, distributed planning capability. The planning process is divided between a central planner, which allocates science goals to the rovers, and individual rover planners that create specific operational plans based on their unique conditions and resource constraints. This approach allows for real-time monitoring and re-planning, enabling the rovers to adapt to unforeseen events and optimize their activities.
The document emphasizes the importance of autonomy in rover operations. Highly autonomous rovers can make decisions independently, reducing the need for constant communication with human operators on Earth. This autonomy is crucial for handling unexpected challenges and ensuring that the rovers can achieve their scientific objectives effectively.
The paper also discusses the technical aspects of the planning system, including how it generates low-level commands for the rovers and monitors their execution. The system is designed to address the inherent challenges of planning in a dynamic and uncertain environment, ensuring that the rovers can operate efficiently even in the face of changing conditions.
Overall, the document highlights the innovative approach taken by JPL in developing a robust framework for multi-rover coordination, which is essential for future planetary missions. By leveraging the capabilities of multiple rovers, the planning system aims to maximize scientific return and facilitate complex exploration tasks, paving the way for more ambitious missions to Mars and beyond.
