ABSTRACT
Leading up to its landing on Mars on February 18, 2021, the Mars 2020 Perseverance rover Surface Mission Operations System (MOS) underwent a verification and validation (V&V) campaign consisting of a series of Super Thread Tests and Operational Readiness Tests. This V&V campaign emphasized incremental testing, mission scenario and capability coverage, and the Test-As-You-Fly approach wherever possible. Although the elements that comprise the Surface System underwent their own internal V&V campaigns, the system-level tests were vital in uncovering findings observable only through the integrated and flight-like nature of these Surface Mission Operations System V & V tests. The COVID-19 pandemic posed additional challenges, including limited facility access, constrained in-person activities, changes to operations paradigms, and evolving safety protocols in the midst of the testing campaign and preparation for surface operations. This paper describes the Verification and Validation campaign of the Mars 2020 Perseverance Rover Surface Mission Operations System that led to the readiness for rover operations on Mars. © 2023 IEEE.
ABSTRACT
Over the first 9 years of the Mars Science Laboratory (MSL) Curiosity rover's surface mission, more than 87% of its driving was performed using Visual Odometry (VO). The benefits of using VO during driving are that it minimizes rover position uncertainty and can be used to monitor wheel slip, halting a drive if excessive wheel slip is occurring. The VO implementation onboard Curiosity acquires and processes VO images in between drive steps while the rover is stationary. A VO Thinking While Driving (VTWD) flight software capability has been developed to enable the processing of VO images during rover driving, increasing the distance Curiosity can drive using VO during a given time period up to as much as 1.75x total distance. Verification and Validation (V&V) of this capability has been challenging due to impacts from the COVID-19 pandemic and unavailability of the JPL Mars Yard outdoor test site. The VTWD V&Vtest procedures were modified to use a small indoor space with Mars-like terrain. This paper describes the 3 year V&V effort under challenging conditions to approve the VTWD capability for use on the Curiosity rover. © 2022 IEEE.
ABSTRACT
Exploring planets requires cooperative robotics technologies that make it possible to act independently of human influence. So-called multi-robot teams, consisting of different and synchronized robots, can solve problems that cannot be handled by a single robot. The PRO-ACT (Planetary RObots deployed for Assembly and Construction Tasks) project aimed to develop and demonstrate key technologies for robot collaboration in the construction of future ISRU (In-Situ Resource Utilization) facilities on the Moon. To this end, the following robots were used: Veles-a rover with six wheels and a 7-DoF (Degree of Freedom) arm, Mantis-a six-legged walking system, and a mobile gantry that can be used for payload manipulation or 3D printing. The project further developed existing software and hardware developed in previous space robotics projects and integrated them into the robotic systems involved. The software enables collaborative tasks such as transportation, mapping and navigation. Due to the Covid-19 situation, the final demonstration was performed remotely for defined mission scenarios. The intensive remote test campaigns provided valuable lessons learned that are directly applicable to future space missions. In addition, PRO-ACT opens a new way for multi-robot collaboration. The paper describes the developed robotic software and hardware as well as the final mission scenarios performed in lunar analogues with Mantis tested in the test field with granules in the DFKI Space Hall in Bremen, Germany, with Veles tested in Warsaw, Poland and with the mobile gantry tested in Elgoibar, Spain. In addition one mission scenario, manipulation tasks with two robotic systems, was performed with two Panda robotic arms in Toulouse, France. The paper concludes with the results of the final demonstration of the multi-robotics team. © 2021 International Astronautical Federation, IAF. All rights reserved.
ABSTRACT
After a seven-month cruise phase, NASA's Mars 2020 mission reached the red planet in February to deliver its Perseverance rover with a sky crane landing, the touchdown system that brought Curiosity to Mars in 2012. The target for this mission was the Jezero Crater, with a final landing zone requirement allowing just 2.8 kilometers of position uncertainty. The orbit determination and trajectory maneuvers implemented by a navigation team at NASA's Jet Propulsion Laboratory in California landed the rover within 1 km of the target, well within the requirement, placing the rover in the precise location it needed to complete its mission objectives--all with most of the team working remotely due to covid-19 restrictions.