Real-time fault detection and situational awareness for rovers: report on the Mars technology program task

@article{Dearden2004RealtimeFD,
  title={Real-time fault detection and situational awareness for rovers: report on the Mars technology program task},
  author={Richard Dearden and Thomas Willeke and Reid Simmons and Vandi Verma and Frank Hutter and Sebastian Thrun},
  journal={2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720)},
  year={2004},
  volume={2},
  pages={826-840 Vol.2}
}
In this paper we describe the results of a project funded by the Mars technology program at NASA, aimed at developing algorithms to meet this requirement. We describe a number of particle filtering-based algorithms for state estimation which we have demonstrated successfully on diagnosis problems including the K-9 rover at NASA Ames Research Center and the Hyperion rover at CMU. Due to the close interaction between a rover and its environment, traditional discrete approaches to diagnosis are… CONTINUE READING

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