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This paper presents field experiments of two novel approaches to local and regional motion planning applied to planetary rover navigation. The first approach solves the two-point boundary value problem using a model-based trajectory optimization technique that inverts an arbitrary dynamics model to generate a feasible motion plan. The second approach(More)
The inability of current robotic perception techniques to adequately detect non-geometric terrain hazards is a primary cause of failure for robots operating in natural terrain on Mars, the Moon, and Earth. Classical approaches detect surface appearance but do not measure the underlying mechanical properties that determine wheel-terrain interaction. Diurnal(More)
Rovers operating on Mars have been delayed, diverted, and trapped by loose granular materials. Vision-based mobility prediction approaches often fail because hazardous sand is difficult to distinguish from safe sand based on surface appearance alone. Unlike surface appearance, the thermal inertia of terrain is directly correlated to the same geophysical(More)
Motivation: Some of the most intriguing science discoveries on Mars came from sites that are currently inaccessible for in-situ analysis and sample return. The recent discovery of recurring slope lineae (RSL), such as those observed in Newton crater, are on steep slopes (25° – 40°) that are hundreds of meters down from the crater rim. In-situ analysis and(More)
This paper presents a method for predicting slip using Gaussian process regression. Slip models are learned for visually classified terrain types as a function of terrain geometry. Spatial correlations between terrain properties are leveraged for on-line slip model adaptation. Results show that regression-based modeling using in-situ rover data outperforms(More)
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