The Science Autonomy System of the Nomad robot

Abstract

The Science Autonomy System (SAS) is a hierarchical control architecture for exploration and in situ science that integrates sensing, navigation, classification and mission planning. The Nomad robot demonstrated the capabilities of the SAS during a January 2000 expedition to Elephant Moraine, Antarctica where it accomplished the first meteorite discoveries made by a robot. In the paper, the structure and functionality of the three-tiered SAS are detailed. Results and lessons learned are presented with a focus on important future research.