Fast Traversing Autonomous Rover for Mars Sample Collection

The success of future NASA Mars Sample Return (MSR) mission can significantly benefit from increased onboard autonomy of planetary rovers. Therefore, the technical objective of this proposed project is to develop and experimentally validate key technologies needed for autonomous rover traversing on Mars-analog terrains. The goal is to reduce the number of sols needed to complete the MSR mission-required total traverse distance (i.e., “fast traverse”). This will be achieved through increased rover operation “duty cycle” and “mean time between human interventions,” while utilizing limited onboard power and computational resources. More specifically, the fast traverse problem will be broken down and solved with five main research tasks: 1. prepare a test-bed rover and realistic test environments; 2. achieve a high-level onboard situational awareness with limited computing resources; 3. enable robust, flexible, and efficient decision making; 4. develop new modes of human-robot collaboration with delayed and infrequent communications; and 5. test and demonstrate the developed rover capabilities in relevant environments. The project will be conducted through a tight collaboration between West Virginia University (WVU) and NASA Jet Propulsion Laboratory (JPL) with project members from both sides. The project will leverage WVU’s autonomous rover, Cataglyphis, the only robot to successfully complete NASA’s Sample Return Robot Centennial Challenge, and JPL’s Athena rover and simulators in completing the proposed research tasks. In particular, the WVU team will work closely with JPL’s Mobility and Robotic Systems Section in performing rover research and conducting joint experiments at WVU, JPL’s Mars yard, and in the red rock deserts of southern Utah. The lessons learned through these efforts will be used to support MSR trade studies currently being conducted by JPL Mars Program Formulation Office. Systems-level innovation will be emphasized throughout the project: that is, leveraging unique opportunities provided by the MSR mission to support novel rover autonomy capabilities. In addition, the project will emphasize end-to-end development and demonstration in realistic physical environments. In general, the project will advance the-state-of-the-art in autonomous robot operation in cluttered environments with severely limited onboard resources, which is well aligned with NASA’s technology roadmap in robotics and autonomous systems. Through this research effort, technologies, infrastructure, and expertise closely related to NASA planetary rover missions will be developed at WVU, which in turn will improve West Virginia’s competiveness in pursuing future NASA funded research projects.

This is a mature technology (TRL 7+) — the realistic path in is usually NASA's Technology Transfer Program: licensing an existing NASA patent, or a Space Act Agreement to use NASA facilities/expertise directly. NASA also runs a startup licensing program with no upfront fee for companies formed to commercialize a specific NASA technology.

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