Autonomous Exploration for Gathering Increased Science

AEGIS awarded NASA Software of the Year for 2011!

Publications

Journal Articles

AEGIS Automated Targeting for the MER Opportunity Rover: T. Estlin, B. Bornstein, D. Gaines, R. C. Anderson, D. Thompson, M. Burl, R. Castaño, M. Judd, to appear in ACM Transactions on Intelligent Systems and Technology. CL#11-4072
OASIS: Onboard Autonomous Science Investigation System for Opportunistic Rover Science: R. Castaño, T. Estlin, R. Anderson, D. Gaines, A. Castaño, B. Bornstein, C. Chouinard, M. Judd, Journal of Field Robotics, v24 #5 May 2007. CL#06-3896

Conference Articles

AEGIS Automated Targeting for the MER Opportunity Rover: T. Estlin, B. Bornstein, D. Gaines, D. Thompson, R, Castaño, R. C. Anderson, C. de Granville, M. Burl, M. Judd, and S. Chien, To appear in Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS 2010), Sapporo, Japan, August 2010. CL#10-2113
Automated Targeting for the MER Rovers: T. Estlin, R. Castaño, R. C. Anderson, D. Gaines, B. Bornstein, C. de Granville, D. Thompson, M. Burl and M. Judd, Proceedings of the Space Mission Challenges for Information Technology Conference (SMC-IT 2009), Pasadena, CA, July 2009.
Automated Targeting for the MER Rovers: T. Estlin, R. Castaño, B. Bornstein, D. Gaines, R. C. Anderson, C. de Granville, D. Thompson, M. Burl, M. Judd, and S. Chien, Proceedings of the 2009 Infotech@Aerospace AIAA Conference, Seattle, WA, April 2009.
Enabling Autonomous Science for a Mars Rover: T. Estlin, R. Castaño, D. Gaines, B. Bornstein, M. Judd, and R. C. Anderson, Proceedings of the SpaceOps 2008 Conference, Heidelberg, Germany, May 2008.
Experiments in Onboard Rover Traverse Science: R. Castaño, T. Estlin, D. Gaines, B. Bornstein, R. C. Anderson, B. Bue and M. Judd, Proceedings of the 2008 IEEE Aerospace Conference, Big Sky, Montana, March, 2008.
Supporting Increased Autonomy for a Mars Rover: T. Estlin, D. Gaines, B. Bornstein, R. Castaño, G. Rabideau, M. Johnston, C. Chouinard, M. Judd, R. C. Anderson, and I. Nesnas Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS 2008), Los Angeles, CA, Feb 2008.
Autonomous Science Technologies for a Mars Rover: T. Estlin, R. Castaño, D. Gaines, B. Bornstein, M. Judd, R. C. Anderson, and Issa Nesnas, Proceedings of the NASA Science Technology Conference 2007, Adelphi, MD, June 2007.
Automated Decision-Making for Mars Rover Onboard Science: T. Estlin, D. Gaines, C. Chouinard, R. Castaño, B. Bornstein, M. Judd, and R. C. Anderson, Proceedings of the AIAA Infotech@Aerospace 2007 Conference, Rohnert Park, CA, May 2007.
Increased Mars Rover Autonomy using AI Planning, Scheduling and Execution: T. Estlin, D. Gaines, C. Chouinard, R. Castaño, B. Bornstein, M. Judd, I. Nesnas, R. Anderson, IEEE International Conference on Robotics and Automation (ICRA 2007). Rome, Italy. April 2007. CL#06-3357
Onboard Autonomous Rover Science: R. Castaño, T. Estlin, D. Gaines, C. Chouinard, B. Bornstein, R. Anderson, M. Burl, D. Thomson, A. Castaño, M. Judd, IEEE Aerospace Conference (IAC 2007). Big Sky, MT. March 2007. CL#06-4049
A Performance Comparison of Rock Detection Algorithms: D.R. Thompson and R. Castaño, IEEE Aerospace Conference (IAC 2007). Big Sky, MT. March 2007.
Opportunistic Rover Science: Finding and Reacting to Rocks Clouds and Dust Devils: R. Castaño, T. Estlin, D. Gaines, A. Castaño, C. Chouinard, B. Bornstein, R. C. Anderson, S. Chien, A. Fukunaga, and M. Judd, Proceedings of the 2006 IEEE Aerospace Conference, Big Sky Montana, March 2006
Enabling Autonomous Rover Science through Dynamic Planning and Scheduling: T. Estlin, D. Gaines, C. Chouinard, F. Fisher, R. Castaño, M. Judd, R. Anderson, and I. Nesnas, Proceedings of the 2005 IEEE Aerospace Conference, Big Sky, Montana, March 2005.
Current Results from a Rover Science Data Analysis System: R. Castaño, M. Judd, T. Estlin, R. Anderson, D. Gaines, A. Castaño, B. Bornstein, T. Stough, K. Wagstaff, Proceedings of the 2005 IEEE Aerospace Conference, Big Sky, Montana, March 2005.
Autonomous Onboard Traverse Science System: R. Castaño, M. Judd, T. Estlin, R. Anderson, L. Scharenbroich, L. Song, D. Gaines, F. Fisher, D. Mazzoni, and A. Castaño, Proceedings of the 2004 IEEE Aerospace Conference, Big Sky, Montana, March 2004.
Rover Traverse Science for Increased Mission Science Return: R. Castaño, R. Anderson, T. Estlin, D. Decoste, F. Fisher, D. Gaines, D. Mazzoni, and M. Judd, Proceedings of the 2003 IEEE Aerospace Conference, Big Sky, Montana, March 2003.
Mars Rover Image Data Prioritization for Increased Mission Science Return: R. Castaño, R. Anderson, T. Estlin, D. Gaines, D. Decoste, D. Mazzoni, and M. Judd, Proceedings of the American Geophysical Union 2002 Fall Meeting, San Francisco, December 2002.

Conference Abstracts

A New Capability for Automated Targeting and Sampling using Remote Sensing Instruments on the MER Rovers: T. Estlin, R. Castaño, D. Gaines, R. C. Anderson, D. Gaines, B. Bornstein, C. de Granville, B. Yang, D. Thompson, and M. Judd, In proceedings of AGU Fall Meeting. San Francisco. December, 2008.
Opportunistic Detection and Measurements of Novel Rocks: R. Castaño, T. Estlin, R. C. Anderson, D. Gaines, B. Bornstein, and M. Judd, Lunar and Planetary Science XXXIX (2008), March 2008.
Detection of Novel Features and Collection of Opportunistic Science Data with an Onboard Autonomous Rover Science System: R. Castaño, T. Estlin, D. Gaines, B. Bornstein, R. C. Anderson, B. Bue, and M. Judd, In proceedings of AGU Fall Meeting. San Francisco. December, 2007.
Onboard Rover End of Day and Traverse Science: R. Castaño, T. Estlin, R. C. Anderson, D. Gaines, B. Bornstein, B. Bue, and M. Judd, , Lunar and Planetary Science XXXVIII (2007) Abstract 1971, March 2007.
Science Operations for Onboard Autonomous Rover Science.: T. Estlin, A. Haldemann, M. McHenry, R. Castaño, D. Gaines, B. Bornstein, M. Burl, R. Anderson, I. Shu, M. Powell, T. Farr, I. Nesnas, A. Jain and M. Judd, In proceedings of AGU Fall Meeting. San Francisco. December, 2006.
End-of-day Science with the OASIS System: R. Castaño, T. Estlin, R. Anderson, D. Gaines, B. Bornstein, A. Castaño, M. Burl, C. Chouinard, D. Thompson, A. Castaño and M. Judd, In proceedings of AGU Fall Meeting. San Francisco. December, 2006.
Object Shape Reconstruction with MER Navcam and Pancam: Testing Science Impacts of Known Stereo Algorithm Constraints: R. Anderson, B. Bornstein, A. Haldemann, T. Estlin, J. Maki, R. Petras, R. Castaño, M. Judd, and M. Golombek, In proceedings of AGU Fall Meeting. San Francisco. December, 2006.
Using Simulation to Evaluate Scientific Impact of Autonomous Robotic Capabilities for Mars: A. Haldemann, M. McHenry, R. Castaño, J. Cameron, T. Estlin, T. Farr, A. Jain, M. Lee, C. Leff, C. Lim, I. Nesnas, , M. Powell, I. Shu, J. Wood, R. Volpe and D. Gaines, In proceedings of AGU Fall Meeting. San Francisco. December, 2006.
Opportunistic Rover Science with the OASIS system: R. Castaño, T. Estlin, D. Gaines, A. Castaño, B. Bornstein, C. Chouinard and M. Judd, EOS Trans. AGU, 87(36), Jt. Assemb. Suppl., Abstract IN43E-06 (2006).
Automated Target Selection for Opportunistic Rover Science: R. C. Anderson, R. Castaño, T. Estlin, D. Gaines, A. Castaño, B. Bornstein, C. Chouinard, R. C. Anderson and M. Judd, Lunar and Planetary Science XXXVIII (2006).
Rover Science on the Run: Autonomously Detecting and Reacting to Interesting Geologic Features.: R. Castaño, R., R.C. Anderson, T. Estlin, D. Gaines, A. Castaño, B. Bornstein, T. Stough, C. Chouinard and M. Judd, EOS Trans. AGU, 86(52), Fall Meet. Suppl., Abstract P21A-0136 (2005).
Science Alert Demonstration With A Rover Traverse Science Data Analysis System: R. Castaño, T. Estlin, D. Gaines, A. Castaño, B. Bornstein, R. C. Anderson, M. Judd, T. Stough, and K. Wagstaff (2005), Lunar and Planetary Science XXXVI (2005) Abstract 2260
Recent Advances: Onboard Autonomous Science Investigation System: R. Castaño, R. Anderson, M. Judd, T. Estlin, D. Gaines, A. Castaño, B. Bornstein, K. Wagstaff, T. Stough, and, EOS Trans. AGU, 86(52), Fall Meet. Suppl., Abstract P43A-0913 (2004).
Intensity-Based Rock Detection for Acquiring Onboard Rover Science: A. Castaño, R. Anderson, R. Castaño, T. Estlin, and M. Judd, Lunar and Planetary Science XXXV (2004).
Maximizing Rover Science Return through Autonomous Onboard Data Analysis: R. Castaño, R. Anderson, T. Estlin, D. Gaines, D. Decoste, D. Mazzoni, and M. Judd, EOS Trans. AGU, Fall Meet. Suppl. (2003).

Workshop Articles

Using Automated Planning and Scheduling for Onboard Rover Commanding: T. Estlin, D. Gaines, C. Chouinard, R. Castaño, B. Bornstein, M. Judd, and R. C. Anderson, ICAPS 2008 Workshop on Oversubscribed Planning Scheduling, Sydney, Australia, Sept 2008.
Autonomous Science for Mars Rovers: T. Estlin, R. Castaño, D. Gaines, B. Bornstein, M. Judd, and R. C. Anderson, ICRA 2008 Planetary Robotics Workshop, Pasadena, CA, May 2008.
Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations: T. Estlin, D. Gaines, C. Chouinard, F. Fisher, R. Castaño, M. Judd, and I. Nesnas, ICAPS 2006 Workshop on Planning under Uncertainty and Execution Control for Autonomous Systems, Cumbria, England, June, 2006.
Robust and Opportunistic Planning for Planetary Exploration: D. Gaines, T. Estlin, C. Chouinard, F. Fisher, R. Castaño, R. Anderson, and M. Judd, Proceedings of the IJCAI 2005 Workshop on Planning and Learning in A Priori Unknown or Dynamic Domains, Edinburgh, Scotland, August 2005.
Demonstrating Robotic Autonomy in NASA’s Intelligent Systems Project: R. Morris, T. Estlin, L. Pederson, and B. Williams, Proceedings of the Eighth ESA Workshop on Advanced Space Technologies for Robotics and Automation, Noordwijk, the Netherlands, Nov 2004.
Onboard Planning for Geological Investigations using a Rover Team: T. Estlin, D. Gaines, F. Fisher, and R. Castaño, Proceedings of the Fourth International Workshop on Planning and Scheduling for Space, Darmstadt, Germany, June 2004.
Planning for Rover Opportunistic Science: D. Gaines, T. Estlin, F. Fisher, C. Chouinard, R. Castaño, R. Anderson, and M. Judd, Proceedings of the Fourth International Workshop on Planning and Scheduling for Space, Darmstadt, Germany, June 2004.
Machine Learning Challenges in Mars Rover Traverse Science: R. Castaño, M. Judd, R. Anderson, and T. Estlin, Proceedings of the ICML-2003 Workshop on Machine Learning Technologies for Autonomous Space Applications, Washington, D.C., August 2003.
Learning and Planning for Mars Rover Science: T. Estlin, R. Castaño, B. Anderson, D. Gaines, F. Fisher, and M. Judd, Proceedings of the IJCAI-03 Workshop on Issues in Designing Physical Agents for Dynamic Real-Time Environments, Acapulco, Mexico, August 2003.

Technical Reports, Systems Demonstrations, and Other Non-Refereed Articles

Opportunistic Planning and Execution for Planetary Exploration: D. Gaines, T. Estlin, C. Chouinard, R. Castaño, A. Castaño, B. Bornstein, R. C. Anderson, M. Judd, I. Nesnas and G. Rabideau, Submitted to ICAPS Systems Demonstration, 2006.
Techniques for Onboard Prioritization of Science Data for Transmission: R. Castaño, R. Anderson, T. Estlin, D. De Coste, F. Fisher, D. Gaines, D. Mazzoni, and M. Judd, Interplanetary Network Progress Report, 42-153, Janurary-March 2003.