Eric T. Baumgartner

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This paper describes recent work undertaken at the Jet Propulsion Laboratory in Pasadena, CA in the area of increased rover autonomy for planetary surface operations. The primary vehicle for this work is the Field Integrated, Design and Operations (FIDO) rover. The FIDO rover is an advanced technology prototype that is a terrestrial analog of the Mars(More)
Spirit is one of two rovers that landed on Mars in January 2004 as part of NASA's Mars Exploration Rover mission. As of July 2005, Spirit has traveled over 4.5 kilometers across the Martian surface while investigating rocks and soils, digging trenches to examine subsurface materials, and climbing hills to reach outcrops of bedrock. Originally designed to(More)
We overview our recent research on planetary mobility. Products of this effort include the Field Integrated Design & Operations rover (FIDO), Sample Return Rover (SRR), reconfigurable rover units that function as an All Terrain Explorer (ATE), and a multi-Robot Work Crew of closely cooperating rovers (RWC). FIDO rover is an advanced technology prototype;(More)
named Opportunity successfully landed in the region of Mars known as Meridiani Planum, a vast plain dotted with craters where orbiting spacecraft had detected the signatures of minerals believed to have formed in liquid water. The first pictures back from Opportunity revealed that the rover had landed in a crater roughly 20 meters in diameter – the only(More)
Given ambitious mission objectives and long delay times between command-uplinkkdata-downlink sessions, increased autonomy is required for planetary rovers. Speciically NASA's planned 2003 and 2005 Mars rover missions must incorporate increased autonomy if their desired mission goals are to be realized. Increased autonomy, including autonomous path planning(More)
—This paper describes a new sun sensor for absolute heading detection developed for the Field Integrated, Design and Operations (FIDO) rover. The FIDO rover is an advanced technology rover that is a terrestrial prototype of the rovers NASA/Jet Propulsion Laboratory (JPL) plans to send to Mars in 2003. Our goal was to develop a sun sensor that fills the(More)
Robotic construction Crew (RCC) is a heterogeneous multi-robot system for autonomous acquisition, transport, and precision mating of components in construction tasks. RCC minimizes resources constrained in a space environment such as computation, power, co~~~nunication, alnd sensing. A behavior-based architecture provides adaptability and robustness despite(More)
Manipulation systems for planetary exploration operate under severe limitations due to power and weight restrictions and extreme environmental conditions. Typically such systems employ carefully calibrated stereo cameras and carefully calibrated manipulators to achieve precision on the order of ten millimeters with respect to instrument placement(More)