Uncertainty-Aware Trajectory Planning: Using Uncertainty Quantification and Propagation in Traversability Prediction of Planetary Rovers

Abstract

In an extreme environment, such as Mars or a volcanic area, mobile robots have been used in scientific missions, or as precursors for a future manned mission. The robot called a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">planetary exploration rover</i> is managed by a space-qualified, radiation-hardened, and low-clock onboard computer, and autonomously travels over challenging terrain.