NASA NTRS · 19630007525
First issue of Astronautics and aerospace engineering journal.
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Bernard A. Hohmann. 1963-02-01. Manned Orbital Operation, Special Section. https://ntrs.nasa.gov/citations/19630007525
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The Mars Exploration Rover Opportunity has recently completed a two year campaign studying Victoria Crater. The campaign culminated in a close approach of Cape Verde in order to acquire high resolution imagery of the exposed stratigraphy in the cliff face. The close approach to Cape Verde provided significant challenges for every subsystem of the rover as the rover needed to traverse difficult, uncharacterised terrain and approach a cliff face with the potential of blocking out solar energy and communications with Earth. In this paper we describe the strategic analyses performed by the science and engineering teams so that we could successfully achieve the science objectives while keeping the rover safe.
We discuss the opportunities for autonomous sys- tems to perform reflection on their planners by adapting the models used to build plans. We first describe model-based planning systems, a form of automated planning system driven by declarative models of the planning domain. These models include descriptions of the conditions and effects of actions on the state of the world. When planning the activities of cyber-physical systems, the command and data representation of the system must be formally abstracted to the actions and states described in the planning system model. When the execution of a plan either fails or produces unexpected outcomes, the execution trace can be abstracted and compared to the predicted state according to the planning model, producing a list of discrepancies; these discrepancies can then be used to fix the model. This provides part of a reflection capability, namely, a set of well-formed problems with the domain model, the abstractions, or both. The challenge lies in the rest of the reflection capability, namely, a set of techniques for changing the models or the abstractions. We discuss these challenges and describe some of the options for addressing them