9,414 research outputs found
Efficient Autonomous Navigation for Planetary Rovers with Limited Resources
Rovers operating on Mars are in need of more and more autonomous features to ful ll their
challenging mission requirements. However, the inherent constraints of space systems make
the implementation of complex algorithms an expensive and difficult task. In this paper
we propose a control architecture for autonomous navigation. Efficient implementations of
autonomous features are built on top of the current ExoMars navigation method, enhancing
the safety and traversing capabilities of the rover. These features allow the rover to detect
and avoid hazards and perform long traverses by following a roughly safe path planned by
operators on ground. The control architecture implementing the proposed navigation mode
has been tested during a field test campaign on a planetary analogue terrain. The experiments
evaluated the proposed approach, autonomously completing two long traverses while
avoiding hazards. The approach only relies on the optical Localization Cameras stereobench,
a sensor that is found in all rovers launched so far, and potentially allows for computationally
inexpensive long-range autonomous navigation in terrains of medium difficulty
The Cyborg Astrobiologist: Testing a Novelty-Detection Algorithm on Two Mobile Exploration Systems at Rivas Vaciamadrid in Spain and at the Mars Desert Research Station in Utah
(ABRIDGED) In previous work, two platforms have been developed for testing
computer-vision algorithms for robotic planetary exploration (McGuire et al.
2004b,2005; Bartolo et al. 2007). The wearable-computer platform has been
tested at geological and astrobiological field sites in Spain (Rivas
Vaciamadrid and Riba de Santiuste), and the phone-camera has been tested at a
geological field site in Malta. In this work, we (i) apply a Hopfield
neural-network algorithm for novelty detection based upon color, (ii) integrate
a field-capable digital microscope on the wearable computer platform, (iii)
test this novelty detection with the digital microscope at Rivas Vaciamadrid,
(iv) develop a Bluetooth communication mode for the phone-camera platform, in
order to allow access to a mobile processing computer at the field sites, and
(v) test the novelty detection on the Bluetooth-enabled phone-camera connected
to a netbook computer at the Mars Desert Research Station in Utah. This systems
engineering and field testing have together allowed us to develop a real-time
computer-vision system that is capable, for example, of identifying lichens as
novel within a series of images acquired in semi-arid desert environments. We
acquired sequences of images of geologic outcrops in Utah and Spain consisting
of various rock types and colors to test this algorithm. The algorithm robustly
recognized previously-observed units by their color, while requiring only a
single image or a few images to learn colors as familiar, demonstrating its
fast learning capability.Comment: 28 pages, 12 figures, accepted for publication in the International
Journal of Astrobiolog
Recognition of landslides in lunar impact craters
Landslides have been observed on several planets and minor bodies of the solar System, including the Moon. Notwithstanding different types of slope failures have been studied on the Moon, a detailed lunar landslide inventory is still pending. Undoubtedly, such will be in a benefit for future geological and morphological studies, as well in hazard, risk and suscept- ibility assessments. A preliminary survey of lunar landslides in impact craters has been done using visual inspection on images and digital elevation model (DEM) (Brunetti et al. 2015) but this method suffers from subjective interpretation. A new methodology based on polynomial interpolation of crater cross-sections extracted from global lunar DEMs is presented in this paper. Because of their properties, Chebyshev polynomials were already exploited for para- metric classification of different crater morphologies (Mahanti et al., 2014). Here, their use has been extended to the discrimination of slumps in simple impact craters. Two criteria for recognition have provided the best results: one based on fixing an empirical absolute thresholding and a second based on statistical adaptive thresholding. The application of both criteria to a data set made up of 204 lunar craters’ cross-sections has demonstrated that the former criterion provides the best recognition
Space photography and the exploration of Mars
A general exposition of the scientific potentialities and analytic framework of space photography is presented using the photography of Mars from flybys and orbiters as the principal example. Space photography is treated here as a communication process in which planetary scene information is communicated to the eye-brain receiver of earth-based interpreters. The salient parameters of this process are: (1) total information returned, (2) surface resolution, and (3) a priori knowledge regarding the planetary surface observed
Planet Four: Terrains - Discovery of Araneiforms Outside of the South Polar Layered Deposits
We present the results of a systematic mapping of seasonally sculpted
terrains on the South Polar region of Mars with the Planet Four: Terrains (P4T)
online citizen science project. P4T enlists members of the general public to
visually identify features in the publicly released Mars Reconnaissance Orbiter
CTX images. In particular, P4T volunteers are asked to identify: 1) araneiforms
(including features with a central pit and radiating channels known as
'spiders'); 2) erosional depressions, troughs, mesas, ridges, and
quasi-circular pits characteristic of the South Polar Residual Cap (SPRC) which
we collectively refer to as 'Swiss cheese terrain', and 3) craters. In this
work we present the distributions of our high confidence classic spider
araneiforms and Swiss cheese terrain identifications. We find no locations
within our high confidence spider sample that also have confident Swiss cheese
terrain identifications. Previously spiders were reported as being confined to
the South Polar Layered Deposits (SPLD). Our work has provided the first
identification of spiders at locations outside of the SPLD, confirmed with high
resolution HiRISE imaging. We find araneiforms on the Amazonian and Hesperian
polar units and the Early Noachian highland units, with 75% of the identified
araneiform locations in our high confidence sample residing on the SPLD. With
our current coverage, we cannot confirm whether these are the only geologic
units conducive to araneiform formation on the Martian South Polar region. Our
results are consistent with the current CO2 jet formation scenario with the
process exploiting weaknesses in the surface below the seasonal CO2 ice sheet
to carve araneiform channels into the regolith over many seasons. These new
regions serve as additional probes of the conditions required for channel
creation in the CO2 jet process. (Abridged)Comment: accepted to Icarus - Supplemental data files are available at
https://www.zooniverse.org/projects/mschwamb/planet-four-terrains/about/results
- Icarus print version available at
http://www.sciencedirect.com/science/article/pii/S001910351730055
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