Sensory Fusion for Planetary Surface Robotic Navigation, Rendezvous, and Manipulation Operations
نویسندگان
چکیده
The upcoming missions to Mars planned by NASA/JPL in 2009 and 2013 are more ambitious than any previously flown. Included in these missions are extended multi-kilometer traverses, and autonomous rover rendezvous with science targets and man-made structures such as landers. This paper reports some of the ongoing work at JPL in the areas of autonomous sensory fusion of both raw and derived inputs for better localization during long traverses, precision rendezvous operations with both labeled (man-made) and unlabeled (natural) targets, and precision manipulation of targets. We also present the results of some experimental studies done in laboratory and external environments.
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