Sun-Synchronous Robotic Exploration: Technical Description and Field Experimentation

Sun-synchronous robotic exploration is accomplished by reasoning about sunlight: where the Sun is in the sky, where and when shadows will fall, and how much power can be obtained through various courses of action. We conducted experiments in the Canadian high arctic using a solar-powered rover to prove the concept of Sun-synchronous exploration. Using knowledge of orbital mechanics, local terrain, and locomotion power, the rover Hyperion planned Sun-synchronous routes to visit designated sites while obtaining the necessary solar power for continuous operation. Hyperion executed its plan, beginning and ending each 24-h period with batteries fully charged, after traveling two circuits of more than 6 km in barren,