Laurence J. Edwards

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The Autonomy and Robotics Area (ARA) at NASA Ames Research Center has investigated the use of various types of Virtual Reality-based operator interfaces to remotely control complex robotic mechanisms. In this paper, we describe the major accomplishments and technology applications of the ARA in this area, and highlight the advantages and issues related to(More)
In Summer 2007, we field-tested a robotic survey system at Haughton Crater (Devon Island, Canada). Two NASA Ames K10 planetary rovers performed systematic surveys of several simulated lunar sites, including a roughly 700m x 700m region called Drill Hill. The rovers carried a 3D scanning lidar for topog-raphic mapping and ground penetrating radar to map(More)
  • Terrence Fong, Maria Bualat, Matt Deans, Mark Allan, Xavier Bouyssounouse, Michael Broxton +16 others
  • 2008
Since 2004, NASA has been working to return to the Moon. In contrast to the Apollo missions, two key objectives of the current exploration program are to establish surface infrastructure and an outpost. Achieving these objectives will enable long-duration stays and long-distance exploration of the Moon. To do this, robotic systems will be needed to perform(More)
Modern NASA planetary exploration missions employ complex systems of hardware and software managed by large teams of engineers and scientists in order to study remote environments. The most complex and successful of these recent projects is the Mars Exploration Rover mission. The Computational Sciences Division at NASA Ames Research Center delivered a 3D(More)
In this paper, we describe NASA Ames Research Center's K10 rover as used in the 2006 Coordinated Field Demonstration at Meteor Crater, Arizona. We briefly discuss the control software architecture and describe a high dynamic range imaging system and panoramic display system used for the remote inspection of an EVA crew vehicle.
This paper introduces an advanced rover localization system suitable for autonomous planetary exploration in the absence of Global Positioning System (GPS) infrastructure. Given an existing terrain map (image and elevation) obtained from satellite imagery and the images provided by the rover stereo camera system, the proposed method determines the best(More)
Simulation and visualization of rover behavior are critical capabilities for scientists and rover operators to construct, test, and validate plans for commanding a remote rover. The VIPER system links these capabilities , using a high-fidelity virtual-reality (VR) environment, a kinematically accurate simulator, and a flexible plan executive to allow users(More)
NASA is planning to send humans and robots back to the Moon before 2020. In order for extended missions to be productive, high quality maps of lunar terrain and resources are required. Although orbital images can provide much information, many features (local topography, resources, etc) will have to be characterized directly on the surface. To address this(More)
Stable isotope ratios of H, C, and O are powerful indicators of a wide variety of planetary geophysical processes, and for Mars they reveal the record of loss of its atmosphere and subsequent interactions with its surface such as carbonate formation. We report in situ measurements of the isotopic ratios of D/H and (18)O/(16)O in water and (13)C/(12)C,(More)
This paper introduces a system applicable to autonomous planetary exploration rovers that provides local-ization in the inevitable absence of a Global Positioning System (GPS). Given a terrain elevation map previously constructed from satellite imagery, the proposed method determines rover pose using new imagery from an on-board stereo camera system by(More)