SHERPA RPA (Robust Precomputed Autonomy): Addressing the Complexities of Real-Time Mission Operations

The fundamental approach was validated in Phase I by implementing and testing a partially observable Markov decision process (POMDP) model of the Enceladus Orbilander life detection instrument suite (published in a 2025 IEEE Space Robotics Workshop paper). Decision policies were computed using Successive Approximations of the Reachable Space under Optimal Policies (SARSOP) algorithm. In Phase II, we will develop methods for hierarchical reasoning and handling interactions between systems (also via offline POMDPs).

Deliverables: (1) life detection suite model with fault modes, 11/25, (2) electrical system model with fault modes, 3/26, (3) high-level reasoner, 6/26, (4) test report, 9/26.

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