MAPGEN: Mixed-Initiative Planning and Scheduling for the Mars Exploration Rover Mission

8 1094-7167/04/$20.00 © 2004 IEEE IEEE INTELLIGENT SYSTEMS to elucidate the planet’s past climate, water activity, and habitability. Science is MER’s primary driver, so making best use of the scientific instruments, within the available resources, is a crucial aspect of the mission. To address this criticality, the MER project team selected MAPGEN (Mixed Initiative Activity Plan Generator) as an activity-planning tool. MAPGEN combines two existing systems, each with a strong heritage: the APGEN activity-planning tool1 from the Jet Propulsion Laboratory and the Europa planning and scheduling system2 from NASA Ames Research Center. This article discusses the issues arising from combining these tools in this mission’s context.