Sequence planning for the FIDO Mars rover prototype
A planetary rover operations system has been developed and verified in terrestrial rover field tests.
rover operations↗
Engineering topics
Leger, P. C.
Publications and source records attributed to Leger, P. C..
Efficient sensor/model based on-line collision detection for planetary manipulators
We present an algorithm that uses the Oriented Bounding Box (OBB) and a new primitive called the Oriented Bounding Prism (OBP) to detect potential self-collisions and collisions with terrain object sensed with the rover's on-board stereo camera; the algorithm thus has both model-based and sensor-based components.
rovers manipulation collision detection FIDO↗
Reconfigurable robots for all terrain exploration
While significant recent progress has been made in development of mobile robots for planetary suface exploration,there remain major challenges. These include increased autonomy of operation, traverse of challenging terrain, and fault-tolerance under long, unattended periods of use.
mobile robots multi-robot cooperation robotic arch↗
Technologies for icy bodies' access, operations and science
We argue that technologies for acess, operations, and science in icy solar system sites must be examined and their prioritized development initiated in order to successfully plan missions to these compelling sites over the next two decades.
Europa outer planets↗
Technologies for Icy Bodies Access
Recent events in planetary exploration have profoundly changed the way both space scientists and the public regard the solar system and our place in it. These events include the Galileo data suggesting subsurface oceans in the Jovian system, ever stronger suggestions of near-surface water on Mars, as well as the complex structure observed for the Mars polar caps. And, of course, interest in icy cometary bodies is as old as humankind. Finally, the Mars north polar cap may conceivably cover and protect an ancient ocean floor, an obvious candidate ancient or extant habitat. In short, our interest in searching for life embraced early on the search for liquid water, and that has led us to an additional appreciation for water ice as both a commonplace partner with liquid water and as an issue to be addressed in the exploration of a host of interesting sites. In general, the spectrum of specialized technology for space exploration has not yet been broadened to include the requirements brought about by exploration of icy sites. We argue that technologies for access, operations, and science in icy solar system sites must be examined and their prioritized development initiated in order to successfully plan missions to these compelling sites over the next two decades. Additional information is contained in the original extended abstract.
Carsey, F. D.↗