sign in sign up
<<
Home , Mars Exploration Rover, Navcam

Published in 2006 IEEE Aerospace Conference Proceedings, March 2006, Big Sky, Montana, USA

The Exploration Rover Surface Mobility Flight Software: Driving Ambition

Jeffrey J. Biesiadecki and Mark W. Maimone Jet Propulsion Laboratory Pasadena, CA USA jeffrey.j.biesiadecki@jpl..gov [email protected]

Abstract— AUTONOMOUS GOAL SELECTION 10 6 DEPLOYMENT RESULTS 10 NASA’s Mars Exploration Rovers’ (MER) onboard Mo- SOFTWARE VERSIONS 11 bility Flight Software was designed to provide robust and flexible operation. The MER vehicles can be commanded 7 CONCLUSION 13 directly, or given autonomous control over multiple aspects 8 ACKNOWLEDGEMENTS 13 of mobility: which motions to drive, measurement of actual motion, terrain interpretation, even the selection of targets of 1. INTRODUCTION interest (although this mode remains largely underused). Vehicle motion can be commanded using multiple layers of control: Motor Control, Direct Drive operations (Arc, Turn in Place), and Goal-based Driving (Goto Waypoint). Multiple layers of safety checks ensure vehicle performance: Com- mand limits (command timeout, time of day limit, software enable, activity constraints), Reactive checks (e.g., motor cur- rent limit, vehicle tilt limit), and Predictive checks (e.g., Step, Tilt, Roughness hazards). From January 2004 through October 2005, accu- mulated over 5000 meters and 6000 meters of odometry, often covering more than 100 meters in a single day. In this paper we describe the software that has driven these rovers more than a combined 11,000 meters over the , including its design and implementation, and summarize current mobility performance results from Mars. Figure 1. .

Keywords— ¢¡¤£¦¥¨§ © © ¥ ¢§§ © §¥ "! # $ ©%&(')§*¥

§*© +©-,© .0/""(1¥23 © 4.©,5© 2674689"!: 0©4;¥%<2./"=.§ © > 0©4;¥

DFEHG3EI 26A*J%K2./"/01H/046@3@L('M©N,5© 6"/0§*© +©;! ©/0©! 0J*O© 4

90 26/?©9@.©,5A*§ 1 ¥3!© ,5© 0©4

 #6H 2.§ %<AP©%; ¢§*M04RQ:4926§*1STTU6VW*#.LG9=.0§ ")46@YXP=.Z

=+©§  2.4."(1[ ¢§*¡¨\3=./0©§*"© 4[£N©§*R]< ¢¡M£F^>_`)#."§5=.§*"Z

,a§*1b! © /c0$ ©Id646@e:@346A¢©%¦=6Jf')*§RYgH26  h

TABLE OF CONTENTS § §P46@i j§ @34.-k/492.,l¥+('m©$!©/0©!/"/01R@.0J 046>  n*o©4p©=.=+©  " qJ@3o©%$ #.q=./46A_rEc/" #.© 2.!#s #6

1 INTRODUCTION 1 #6",54 a©%P*#.0§R 26*(%K26/c/046@304.! aJ*46@.a© 23R 

2 MER FLIGHT SOFTWARE ARCHITECTURE 2 i #64.©/0©! 0/*©2.§5@3Y%K©§A ¥¨n5t*#.0§a .0/0n(1u*©i*§*Z

3 MOBILITY MANAGER SOFTWARE 3 §* )'N#.0/"N© 4v*#.F 2.§ %<A)©%O ¢§*7*#6M#6¨46 6/"@v +©*# §*©§¤ ©$ 26@R04R*#.0§N=.§*",a§ 1$! © /0_ 4 LOW-LEVEL DRIVING 4

5 AUTONOMOUS DRIVING 5 `)#.m ¢¡¤£w§*©§*?§ (1:=60/0/"1xA© ,,a46@3@¦©46= §7 i§ Z

PRIMARY AUTONOMOUS CAPABILITIES 5  4¢@681_cEy z:2.46AL©%¤A© ,,a46@.c 4:P04l #6t,5©§*4.04.!

 = A"d6¦ #.f@681+{ ¦ > 09n*"V'N#6t",a!t46@w@.*Y*© ERRAIN SSESSMENT VERVIEW

T A O 7 A© /"/0A¥O#.©'| ©R= ©:J" 0©4¢ #.v§ © © t§*,a¥O4 @j'N#.§*L*©

ROBUST STEREO IMAGE PROCESSING 8 @3§*" _-`)#.4R¤*#.F46@a©%O#$@.81 ¥*#.F§*©§*¨ 4 @a 6}

TERRAIN ASSESSMENT 8  #6$",a!v46@u@.*j#92.,a4w©=+§ © §*x'N0/0/¤26 a ©i=./04

 #6t4.\:L@.81O{ FA 09n*"_H`)#.t4.\9H@.81O{ c,5© .0/0n(1jA© ,Z

,a46@6c§*LJ/"> @f  @Y©4Y'N#6cN}94.©'N4f~f46@Y'N#6 B 0-7803-9546-8/06/$20.00 C c 2006 IEEE

1

4/' 4.§J*0/. j J2.§*,54 10c46n*#6¨#6  Z \37 /0§*©,Z )2.4.}94.©'N4R~f +©23) #6x §*§04Y#. @?_



A*§¨46@ Z \374.!26/0§7§*m 4 J© §*_2' 45 ('M45@3§*"904.!



=.§*",5" 0¥+ #6v§*©§F4¢,a}t26J©%¤,5§Z 6 J@)%PnZ `)#.§ © §F§ 5@3§*" 4¢26 04.!f*#.§*5=.§*",a§*1l,5©9@.VF/0©')Z

 26/XH@3©,5 §*1u] 23*©4.© ,5©26F §}904.!$©%M",a! ¦%K 26§  /0/¨A©,5,a4 @.P #6L =+A"%K1¢\3 >*/"1l#.©' ,v26#  ©R 2.§*4

4 @jJ2. Jz 264:P§*©§N,© 0©4j(*",a*"© 4 ^)*©fA© § §*Ac #6  #x'N#./ 4 @P=+©  " 0©4¦J § 04.!c > 2  © §*¥@."§*A @L@.§ 0:Z

§*§*©§04$ #6P04." /?'N#./O©3@3©,5A*§ 1:Z 6 @5(*",a P #6 04.!i=.§*0," 0L%K© §v@3§*"904.!i/"© 4.!iA0§A2./§t§*f]<©%c'N#.#

©32.§x'N#.4i #.5'N#./x/"©:Jt §>*"© 4i© 4i/§*!t§*©3}3P46@ J §0!#:/"04.H@3§ 09"46!¦46@*2.§ 4.Z 043Z =./0 AF§ c =+A/+ J*^A¥

J =[J/0©=+_3%P0 26/)XH@3© , §*1  ©%&(')§*¥W46©t© § 0!046/0/01 4 @e23*©4.© ,© 26a=6 #  /0A 0©4W_¢¡;©')Z /0 /F©,5,a46@6

=6§J5©%c*#.l 6 /004.R@3J0!4b .23a046A© § =+©§*@[  £ A\9 § 4  ./0¤£J4.© 43Z (46@.§*@¦¥M > 09n*"; 26#L?2 J04.!) #6'N#./0

A§*@.n ¥.¥#6 -!46§ @L©§-S T TFA© ,t .04.@v 26*(%K26/:=+©Z  ©b@3"!I#.©/0f"4 ¢§J*04 J© "/ ¥N 2¨§ § ©3}3¥N46@q= §J%K© § ,

 n*"© 4R2.=O@. c©4l © #l§*©§4  _ ,5#64.J, #./n*#I@3! 4.© J  (_ ©P0§ > @[@3§*" v/"Z

/0©' #92.,a4q© = §* ©§ ©[ =+A"%K1 A\.A /01I'N#.# @3§*"904.!

=.§*",5" 0m #.¦§*©§M'N0/0/W= §J%K© § ,l_EF23 © 4.©,5©2 N=6*#jJZ 2. MER FLIGHT SOFTWARE ARCHITECTURE

/0>*"© 4[,5©3@3Y/"/0©'cL*#.Y§ © §¦*©¢}Rn5A2.§*§ 4:v(*

`)#. ©§/0/f§*#." >*2.§  ©%j #6| ¢¡M£ 60!#:  ©%&(')§*

04 *©fA© 2.4:F'N#.4¢ /0A 04.!$'N#.#i@3§*0:04.!a=.§*0," 0N*©

')P 6 @i©4¢*#6L26 @¢%K©§H #6 ¢§*xk¨ #3d64 @3§H/046@3§

h

A\3A23*¦ ©R,5©§*¦ §OA 0/01l§ #¢ §   4l!©:/;/0©3Z

]< ik65¨^>¥O46@Y*#.v©,5,a46@j46@Y /",5A §*1Y"43%K§J §*26A 2.§*

 0©4j 2.=.=./00@Y 91$#92.,a4Y©=+§ © §*_

04j=6§  A2./§F#6@j "! 4."d 4 F@. "! 4l46@l0,=6/",4:**"© 4

04.#.§*"*4 A_

`)#.q,5© .0/0n(1pJ13J , #6w n\ S A4:*",5A*§I@.0, §

'N#./¥O©%'N#60#j*#.v%K©2.§xA© § 4.§F'N#./F,a81l +J §*@

$m©*# ¢k75q/046@3§x4 @i ¢¡M£ §*©§N26 v #.5A© ,,5§*0/

~s ,5#64./$©43d !2.§*"© 4s@3§ 0@y%K§*©,  #. i§

©=+§*"46!u 13(*,8%F\¨ © § }3%K§*©,8e046@q£N0§_ `)#.50

k¨*#3d646@.§Y§ © §YG3©(©26§ 4.§ _ `)#. §*©§f +©3@31 #6 

¦=6§ Z ,=. 0F,v2./" "Z  }:04.!aXxGa26 @$%K©§m,5491§*/nZ  0,5

TiA4:*",5A*§v!§*©2.46@w/"§46¥-46@u/§*!$ ©/§v=646/



 19J ,a;4 @LJ=6 AA§%&_ ¢¡¤£w,5=./"©13O*#.M*,5¤£FE9©4 :

©4[ #.f ©=I©%N #6f§*©§t§ z 26"§*f@6@3n*"© 46/mA/0§*46A5*©

60!#:7©,5=.23*§7W2 J@L 91F*#.m ik65R/046@3§m]</n*#.©2.! #L #6

*/"/M§ ©3}3a] T¢A4: 0, §*x%K§*©, !§*©2646@  ©i ©/§L=64./&^>_

¢¡M£o/"©3}P§ 2.4 W STN +.-# ¥%K© 2.§?*",5?%<J §W #64¦ ¢k65¨^>¥

e#./- 6 /004.¦F§*©2.! #./01v, §H 0@.AZ  ©Z  0@3v46@ _ S

4 @l#6c&%H ¢¡e04: § %<x ©f  §/? +© §*@.m*#6HA©4:*§ © /

,5A*§-%K§ © 4:JZ  ©Z 6 }+_7`)#.F ¢¡M£q§ © §-4*2.§ 4a04$=./

,5©*©§¥9§@30© ¥:,5§¥946@R "46AH"4 (*§ 2.,54 _G9© ,5

 +©2.oe=+©04: +A('m4  #.I('M© ,5@.@3/0b'N#6/¥v@3§*" 

©%P #.;%H ¢¡p ©:§@.#68l §*0/m04: §J%< A*©u© #6§a@3AZ

J §0!#:W%K©§*')§@x©§; }9'm§*@W¥46@L#68 ¤- (-c© 4.¤,5AZ

90¥"4:*§ %<A@x ©P #6¤ 60!#:¨A© ,=623 § 91L')81P©%<5-kMgxEF

 §H 2.§*4¢§@3026F%K©§L@3§*"904.!R/"© 4.!fA0§A2./§x§_xG9 §0!#:

 # m©4.46>*@5 +©*#a #.9%P ¢¡I .26¤46@5*#.F §*0/6 .26* _

/0"4.x@3§*"904.!v =+@f0) Am © _ ¦4: 0,5A*§ JA©4 @?¥ 46@



`)#.§ N§*4S,H j 91: -©%=©P£cEP 46@5S P j 91: -©%  #

 #6a§ © §c*2.§ 4o04o=6/0 Aa¦§*©2.! #./01iS3_!5@.!§* JA© 46@?_

,5,5©§*1¥346@ j 91: m©%7¡M¡¤kM£NXH [_:`)#.L j© .0/""(1a* J}



`)#.R§ © §L§*f(*0/0/"1wJ* 6/"f¢ 0/n©%cU" ¢@3! § ¥

]<@.*A§*" +@f /"©'F^MM! " 43, T>:x 91: ¤©%7J* }+¥94 @f4.© ,Z

#.©'m §5@3§ 09"46!o© 4q,© § Y*#64 Tu@3!§*lJ/0©=+a54.©



046/0/"1? j!  :1:*x©%c@3@3*@o#.=[ =6l]<©%N'N#.#



§*A© ,5,46@3@a@32.N*©¦ #6F=+© *J0 .0/""(1v©%?2.46A© 4: §*©/0/"@ /00@9Z

v,©:(/Y ¢ :1:*¦# L +4w26J@?¥-L©%FXHA © §vST T ^A_

04.!6_f£c©9}3H/0/"§L #64wl'N#./¤§*aA©4 J@3§*@ ,5© .0/0n(1

`)#.F 6"! #:m ©%&(')§*NnJ/n%;§*z:2.0§*A@v j 91 *¥ ©%W'N#.#+_ U

#6 #§@._

j 91: )0N2 J@f 91$*#.tG92.§ %<LDF89"!:*"© 4f,5©3@32./0_

$m©*#u@."§*A @w46@o=6*#[J/">*"© 4o,5©3@3¦©%c@3§*0:04.!j4

¡W0} ¢k65m¥+ #6 ¢¡M£y ©%&(')§*¦P@3090@.@ "4: ©R#.0!#3Z /"/

,a} P26 x©%7©43Z ©:§@fG:*§*©&%FJ0©4Y=.§*©3A* "4.!46@Y` § Z

© B(>_¨¡M#$/"> §*©460m@.90Pm!4.§/0/"15§*=.§* 4:*@

§04bEc4 /019  ©%&(')§*a*©u@.A § ,504.Y'N#.A*#.§5*#.R§*©§

91v4© ¨(A¥ 'N#."/0F @.@3" 0©46/.J©%&('m§ Z © 4./"1L© ¨(A*¨=6§ ©Z

'm©2./@L4 A©264 *§-491H!© ,5A §*¨#6#§@.; ;"¨@3§ 0;/"© 4.!

90@.Y043%K§J §*26>*2.§*l §*90v ©o*#.l§ (a©%P #.j,5©3@32./0

"*x#.©  4i=6*#W_(' 4 @."§*A @ @3§*"904.!6¥O*#.v§*©§P4i=6§ Z

]&%K© §A\.,=6/" ¥§*A© §*@."4.!P /",5A §*1t,5 2.§ ,54:*-© §(*©§ Z

,5=3*" /01)¥A*©¥5a = A"d L,5© .0/0n(1YA©,5,a4 @Y%K§ © ,  #6

04.!a( L04l4.©49 ©/ 0/0P,5,5© § 1.^>_

!§*©2646@j"%¤n¦=.= §N*©:©Y§*0 }91_*' 4 EF23 © 4.©,5©2 PDP8:0! Z

 0©4$] Ec23*©468.^;46@x© #.§;=6 #t /0A 0©4L,5©3@3¥ #.§*©§

¡¤ #[J©%&('m§ f© ¨(>v# ¦"*©'N4u*#.§ @w©%FA© 4 *§ © / ¥-© §

4R /0Am"*)©'N4f@.§ 09"4.!=.§*",5" 0¤*©J §)§*©2.4 @$© .Z

* J}O_¨¡¤ #$© B(>N#6 mn)©'N4R AN©% J* x§*0 ./0¥:46@

J*/"4 @v,a}N=.§*©! §    ©')§@vn!©:/ _ `)#.¤ ©%&(')§*

@3©9t4.©5J# §*a,,5©§*1 'N" #[© #.§t© ¨(A*_;' 46(* @u©%

=.§*©90@3a*#.i2.460z:2.o=  .0/""(1q©%¦46 ./004.!w #6  #.A/0

 #6§*"46!j,,5©§*1¥7© ¨(>*vA© ,,v2.4. $'N" #[#w© #.§

 ©l@3§*" v*%K/"1l 4i #.§*©2.! #i§* c4.§P +A%K© § 5J4¢© 4

90x /"%&Z ©4:*"46@¦,5 *! )]&*#6¤@3©x4.©¨"46/"2 @3N= © "4:*§

¡¤§J*#WVx,5©§*v*#64[S TTf,5A §*¦©%¤*#.a§*©§{+©,t 6"4.@

 ©u }[,5,5©§*1.^>_ XP ¨(>*$",5=./0,54:ad646n*¢( j,aZ

@3(46x'm N@3§ 04Y23 © 4.©,5© 26J/01+S _

#.04.¥c4 @q #. ,5* !a%K§ © , © #.§$ }9f,a81 26 

 §4 J" 0©46)04j4Y© ¨(>{ NJ* x,a#.04._

`)#.5§*©§P,5"4:04o4 (*",a*5©%¤*#.0§¦/0©3/-=+©  n*"© 4

4 @$©§*04:* 0©4$2.=O@. @Y-,/.-#H'N#.0/"L@3§*"904.!6_¨k-©:J" 0©4

`)#.a=6§* @3"! , !§* /01[J0,5=./""d6a§*=.@b@3/"© =.,54:a©%

td §*JaJ 0,5 @[ 6 J@[©4 #.©' ,v26#[*#.l'N#./0#68 

§*© .26JJ©%&('m§ H]<@3/"© = §*-@3©x4.©-46@t ©x=.§*©*A-,5,vZ

 26§ 4.@$]K'N#6/:©3@3©,5 §*13^A_-XP§*"4:**"© 4L0;J 0,a @L26 "46! ©§*15*J'N" #YJ,5=.#.© § ¥ 2 JP©4./015©4.F* }aAZ

2 Figure 2. Schematic drawing of Mobility and other related software modules, and examples of the types of messages or information that pass between them. IMG does Image Acquisition, Cmd processes ground commands, ACM is the Activity Constraint Manager, ARB arbitrates use of resources, MOBM is the Mobility Manager, NAV does the high level navigation processing, Drive executes primitive drive commands, MOT controls all motors, SAPP manages onboard pose estimation,

IMU processes IMU data. Hexagons represent Hardware Objects.

A  t491i! " 4u§*0 ./"8^>¥-46@u46 2.§ L§*/"Z  0,$@.@3Z Z¦ #.J¢ 4 @b,5 *! v ©u*#.i=.Z

 command handlers

/0"4.¤§ N,5AH]K +26 N* J}3@3©t4.©¤ 6/"©3}t© 4$J,a=.#.© §  =.§*©=.§* j ©%&(')§*R© ¨(A_|¡4: 26/"/01¥m #b© ¨(A$§ Z

©§;26J* }F/0©3}3¥#."! #3Z =.§ 0©§*"(1N* J}3O%K© § A© 4: §*©//0©:© =6W46@ A"904.!¢¢©,5,a46@u,5**!5,v26(v§ J=+©46@u }¢*©j #6

@3:Ax@3§*" §m'N"/0/?=.§*AZ ,5=3)/"©'m§m=.§*"© § "(1* }3M #6N@.© A© ,5,546@  13(*, 'N#.4 *#.o©,5,a46@ A©,5=./0A*¥H 26AZ

4.©m#68 F§*/nZ  0,5F§*z:2.0§ ,4:*¤ 26#YM",a! P©,5=.§*JZ A J%K2./0/"1o©§t4.©¥7 ©l #.R4.A\9v©,5,a46@o04u #.YJz:2.46

 "© 4 ^>_ 'N0/"/W\3A2. _

`)#6x*@?¥O #6§*§ =./AF04  #. 60!#:LJ©%&('m§ v'N#.§* Ec4u© §*:0' ©%¤*#.a ¢¡¤£y 60!#:¦J©%&('m§ v"4u!4.§/-4

 #6M +©¨= J*§*4L'm ?4.©W%K©/0/"©'m@PZO",a!¥%K©§W046J*4 A¥ +x%K©2.46@Y04  @  _

A© 4:*04H ©9©c,v26#¦@.m ©c +¤= *J@H W,5**!¥J©N0,a!Z

B§+§¦§ J§  0©4 46@ § Z

04.!Y 6"! #:tJ©%&('m§ v,5=./0©19LY .2 3. MOBILITY MANAGER SOFTWARE

/0 c*#.,5¥:46@=+©04: §-*©L§ J§  @v .2¨§O§§*N=6* @

`)#.u j© 6"/0n(1 i46!§YJ©%&('m§ i© ¨(>o] X4$) Z5 #6

+A('m4a=.=./00 0©4 c]< 26#a¨,5© ."/0"(13^46@v #6c",a!04.!

£ $ ¥F0- "/04:^ 0,5=./",54:*-/0/3A© ,,a46@¦#646@3/0§7%K2.46A 0©46

60!#:cJ©%&('m§  _1$M2.N #.§ L§*H%K'|J26#l\3=3*"© 46_

%K©§l,5© 6"/0n(1 ©,5,a46@6_ `)#.0Y046A/026@3l © #|/"©')Z /0/

@3§*" v©,5,a46@.F ©R= §J%K© § , YJ=+nd+t@3§*"904.!f=6§ 0,5n*" 

XP4.H",5=+©§ *4 N§*t©%  #.H 60!#:NJ©%&('m§ F ©2.46@3§*J*46@

 26#¢c 2.§*43Z "43Z =./¥  N'm/0/ F#.0!#3Z /"/;@3§*"904.!fA© ,Z

*#. "! # mJ©%&('m§ c'N#60#a=6§* MA© ,,a46@.¤ 4:

h §   45/"©3 0©4a04$ ,5/"/

uplink ,a46@6¨ ©v@3§ 0c ©t¦ =+A"d6@

 ©l*#.f =6§*%&t46@u@3J= *#6L#uA©,5,a4 @i*©j #6

J = N8©@304.!#6#§@.)/0©4.! #6L'm81 _

h

=6§Jm©%W*#.H ©%&(')§*N*#6)",5=./0,54 )n_ ©,5,a46@.m4

" #6§¨ +m\3A2. @v0,,5@30 /"1¦26= © 4§*0=3N]<£N/"Z `)0,5

`)#.i23 © 4.©,5© 2654689"!:*"© 4  ©%&(')§*¥Ngx¡MG3`7E9¡3`x¥M0f

A© ,5,546@.^)©§P(*©§*@jFA©,5,a4 @jJz 2646N*©$ +tA\3Z

!4.§*x/"0 .§§*1f,5=./0©1@Y©4¢ §*/WQ k7¡u§ © §_7' P@3©9

A2. @5 §*0/"/01_7Ec/0,5© J¤/0/.A©,5,a4 @.¨J4:7*©L ¢¡¤£ §*©§

4.©t@3=+46@[©4w491¢=6§J*02./§¦#6§*@.'m§ ©§¦ ©%&(')§*5"43Z

§*$,t +@.@3@w04w #.JR 4:JZ @3§*" 4[ z:2.4 AV5iA© ,Z

 §J%< Am%K©§F,5§)4 @R,5© ©§_£c*#.§¥.!04YaJ § ©

,a46@x04¦N z:2.4 A¨;@3J= *#6@H©4./01P%& §W #6=.§*A@304.!

=6"§©%W",a!¥"M2.=O@. M4a04: §*46/6,a=a©%?491t4.§* :1

A© ,5,546@i©,5=./0A*_t`)#.v%K2.46>*"© 46L/"/0@i 91l #.aA© ,Z

#6 #§@.x 4u04o #.a0,a!a= 0§_$E @3§O§*4:L%K2.46A 0©4u0

,a46@l 13(*, *#6c0,5=./",54:FA© ,,a46@.N§*x§ %K§*§ @a*©

h

=.§*©90@3@l §  J4l!©:/?/0©3*"© 4W¥ 46@l§*A%K§*§*"4.!5*©a #6

3 Fault Type Description

Higher level errors - vehicle not necessarily in a dangerous state ARB resource rescinded, may be due to comm pass ACM ACM said not-OK-to-drive POT CAL STEERING using a bad potentiometer TOD time-of-day limit reached during command STOPPED STOP DRIVING or a shutdown command WAYPT TIMEOUT GO TO WAYPOINT command timed out NO PATH NAV could not find a safe path NO PROGRESS insufficient progress, limit cycle or stuck BUSY sequencing error, mobility already running VISODOM too many Visodom steps failed to converge

Reactive hazard detection - something bad DID happen with the hardware IMG IMG reported an error grabbing images SAPP SAPP error, probably a problem with the IMU MOT MOT reported error other than contact switch IDD IDD unstowed during drive DRIVE TIMEOUT single step during GO TO WAYPOINT timed out CSW motion was stopped due to contact switch TILT excessive or unknown tilt during drive SUSPENSION excessive or unknown susp during drive BAD TABLES drv tables enabled but corrupted NORTH insufficient northerly tilt angle Table 1. Mobility Manager Fault Types. The topmost faults result in a Goal error, which indicates the vehicle is still safe but failed to achieve its objective. The lower faults result a in Motion error, i.e., the vehicle has already entered into an unexpected

state and is precluding any further motion pending Earth-based analysis.

#.@3/0"! #:* ¥v"%- #.1$*§ 0@Y*©6_MEPz:2.0§ 04.!a4 @l=.§ ©3*J04.!5 #6 #§@j,a=;¥?§  2.§*46Hf§*©,5,546@3@i@3§*0t=6§ 0,5n*" t*©

 "4.! /"L0,a! ¦=60§c,a81$} L2.=9'm§*@Y©% ,504:2. ¥OJ04.! *%K/01i,a}5=.§*©!§**P ©')§@j*#.$!©:/ _fgx¡MG3`7E9¡3`p ©%&JZ



#6 #§@.N5,5A*§F8')81¥31 AN*#.¦§*©§m'M© 2./@R# 8L@3§*" 4 ')§*tP= § H©%¤ #65DPE % ,5©3@32./05'N#.0# =.§*©:@3F043%K§JZ

,5©§*H #64l "\f,5A §*[email protected].§ 04.! #60N0,a! H=6§ ©3A  04.!6_  §*26A 2.§*LJ§ 9Am*©a X4$) w_

G9© ¥F046(* @e #6 §*©§*f§ ,5"4 ( 0©4 §*1 'N#6"/0i}904.! ' vL*#.$,5© 6"/0n(1u,a4 !§¦J©%&('m§ 5*#6v"4: §J%< AL #6

4 @u=.§ ©3*J04.!l",a!L ©i@3 § ,504.$'N#.#[@30§ > 0©4o*© ¢¡M£  19J ,  ©wgx¡MG.` E ¡3`x¥46@I",5=./0,54: #.l,a04

,5© _ `)#.7§ ,©  491x§ /"Z *",5¤§*z:2.0§*,54:*;%K§*©,  #6 /0©:© =$%K© §c23*©4.© ,© 26M4689"!: 0©4;_7`)#.NA© 46 0J*m©%-J/"> Z

0,5!=.§*©9*J04.!R=.#6 ¥W46@j*#.5,5© .0/""(1j,a46!§H46@ 04.!L,5§*P=60§7%K§ © , 'N#.#v0,a!7%K©§¨#6 #§*@v@3A*>*"© 4

gx¡MG.` E ¡3`p ©%&(')§*0t§ 2.4u04[l/"©')Z =.§*"© § "(1l* J}O¥7J©¢  'N0/"/. +F z:2.0§ @?¥§*z:2.J 04.!x*#.©  )",a! -%K§*©,  #.c0,a!Z

4.©c ©$ /"©' @3©'N4l#.0!#l=.§*"© § "(1a }9F46@l26 x #., *© 04.!cJ§ 9AO 60!#:;J©%&('m§  ¥46@x=6* "4.!m*#.0,5!@.*m*©

,50*m #60§F@3 @3/0"4._ gx¡MG.` E ¡3` %K© §P46/013J_ ' %¤gx¡MG.` E ¡3` Jc$ 2 A04:*/"1

*%KH=6*#$ ©')§@5*#.P! © / ¥: #6P,5© 6"/0n(1a,a46! §m'N"/0/O"43Z

J 0! *¦*#.a@3§ 0v=.§*",5" 0 :1j 46@."4.!l$,5 *! ¦ ©R #6 4. LOW-LEVEL DRIVING

/0©')Z /0 /;@3§*0:04.!YJ©%&('m§  _ e#.4i #.v,54.26§P0HA© ,Z

£N>*" L#6#§@l@3A*>*"© 4l~R#646@3/0"46!a #.©:Jt#6#§@.)43Z

=./0A*¥O #6v,5© 6"/0n(1l,a4 !§P@3 § ,504.H"% #.')81:=+©04:

A© 2.4: § @a@32.§*"4.!v#.0/"P,5© 0©4;¥: 26#f ¤\3*J0N§*©§

¦§*#6@?¥ § J=+©46@."4.!i 6}i ©j*#.fA© ,5,546@w 19J , "%

+©[email protected][ 0/"$Z¦§ z:2."§*§*/nZ  0,5Y§* =+©46 _ .F46j'Ml0,vZ

 ©6_7XF*#.§*'N0 ¥4.©*#.§;J § ©N=60§;©%3",a! ? § z 26J @W¥

=./0,54:*@iRJ=6§*¥+#.0!#3Z =.§*"© § "(1f }Y%K©§H= §J%K© § ,504.!

4 @ #.F13A/0t]<;£*(*=¦¥x045 #6P2. ©4 8t/0©:© = ^7§*=+*@?_

 #6tA 26 0©4Y,© 0©4l=.§*",5" 0N"4l*#.(©H£ ' %P¡  ©%&(')§*

,5©3@32./0_¤ j *! m046@3*"46!a'N#.0#j@3§*0:04.!5=.§*",5" 0x*©

`)#. !46§/N%K§,5'm©§*}[%K© §f*#.  ©%&(')§*j,5©3@32./0f #6

=+§ %K©§*, ]K _ ! _"¥ 2.§*4v045=./A ¥§^7§ N 4:- ©x #60¨,5©3@32./0¥

A© ,5=.§  P*#.L,5© .0/0n(1f ©%&(')§*H0)0/"/026J §*@Y"4j`7 ./0¦S3_

'N#.#u #.4IA© ,5=.23 tJ §*"4.! 4.! /"¦46@o*#.f\3= > @

492.,t +§)©%;'N#./O§ ©/023*"© 46 6 J@$© 4fEF} §*,54.4fJ § Z

`)#.w ¢¡M£ §*©§*Y@3© 4.©j#68 o©,5=.23*§Y%<Jl4.©26!#

04.!5©4Y N! § © 2.46@?_

 ©R=.§*©9*c#6 #§*@j8 ©@.46L",a!F'N#.0/"v #.v#.0/"v0

@3§*"904.!YZN #.1i'm©2./@ f©4: 04926/0/01 £ @3§*"904.!l=6Jx #."§

4

 #60M"46n*0/+(*",a P4$ +F0,5=.§*©@5 91a=6=./"1904.!(%P0 26/ `)#.Md6§(7=.#6 ¤©%. #6¤*2.§ 4.Z 043Z =./0 Am46@v§@3§*"904.!F=.§*0,vZ

XH@3© , §*1f ©%&(')§*F"%-§* ©26§*M= § ,5"    _ " 0F0F ©R(*§P #6vA© § 46§c'N#./N*©$ #6vA© ,5=.23 @¢4.Z

!/0_ e#.4iJ §*"46!a0PA©,5=./0A*¥6 #.¦'N#6/F§ x*2.§*4.@?_

¡¤ #R'N#6/W =+@Yc*/0@YA© §*@304.!v ©5*#.¦EF} §*,54.4 5. AUTONOMOUS DRIVING

/02./ 0©4 Z¦'N#./0a© 4  #.j© 23* 0@.j©%L4q§A04.!o 2.§*4

XP4.v©%*#.v! § x@3 "! 4i#6/"/04.! F©%*#. i¡¤£ ,5  0©4

#68 $l/"© 4.!§¦=6*#w/"4.!*#o ©i©§¥ 46@u§*a§ ©* @u

')$,5A 04.!I #. !© /c*#6R #.uJ13J ,  #.©26/0@e +  ./0

#.0!#.§cJ=+@R #64f*#.L"4 J@3L'N#./_

 #.§*©26!# TT$,5 §P©%6%P"}904.! ¡ 43Z

 ©l@3§*" t"* /"% safely

@3§9' Z /"0}$]% ¡?Z 'J^)*§*§*"4 @ N]K,5© J /01R F'N" #i©9 J0©46/

e#.0/"*#.5,© © §*H§*v +04.!lA 26 @W¥? #. ©H£ ' %P¡| ©%&JZ

© (A/0H§*1+ R©§x,5©§*v,5A*§*^F04uY "4.! /"5@.81 ¥W'Nn*#

')§*vL#.}904.!Y%K©§H #6a4.©,5046/-*§*,046 0©4uA©4 @3n*"© 4

4.©j#./"=u%K§*©, ¡¤§J*#o© 46Aa"*t@3§ 0a# L +! 2.4W_R`)#60t§ Z

]</"/.J §*"46!H7=.§**A§*0 @t46!/0 %K©§¨x(*§ 04.!Z ©46/"1LA© ,Z

z:2.0§ ,4:¥@3> @t 91x*#.N "4 *nd+¤! © / ©%6*#.),50*J0©4;¥

,a46@W¥O@. "§*@j#6@."4.!Y#.0 @Y%K© §F*2.§ 4i"4 =./0 A ¥+© §P

,54 ¤ #6mt 0,=6/"N*/0© = §* @5,5©3@3P©%;@3§*"904.!¦'m©2./@

/0Jv# /"%N #.Y'N#./0v§*©* @u #.R=.§*A© ,5=.23 @I,© 2.4:

=.§*©90@3N046 2 A04:m=6 .0/""(1v04f/"/ .23¤*#.F,5©:(m 4."! 4

%K©§§5,a4.2.§*^>_j`)#.f@.§ 0$ ©%&(')§*a0v/J©j/0©9©}904.!

 § §046_M`)#.L=+©*4: / = ©:J" 0©4l(*",a*"© 4j§*§ © §N@32.L*©

%K©§H©§+Z 4.©,5046/  § ,5046*"© 4iA© 46@3" 0©46¥ 046/"26@."4.!YA\.JZ

 /"0=W¥  #.H"4  .0/""(1v ©v F 1©4 @a4.§ 91v§ ©3}3¤46@5§ © /"/004.!

 " ¤ +©[email protected]*"/"¥ §  A2./*"© 4¦©%3*#.M§*©3}§JZ © !0¨J26 =+46 "© 4

 § §04W¥6 #.v/"0,5n*@¢492.,v §F©%¤A©,5,v2.4.*"© 4j©=.=+©§  2.Z

 19J ,l¥ ©9©x/"4.!*#91L©%+4 >*26*"© 4W¥4 @¦©*#.§¨ #.©'N4t04

4." 0)4 @a/"0,5n*@f 646@.'N0@9*#f'm©2./@$/"/+§ (*§ >M #.H#."Z

`7 ./03 _457046/0/"1 ¥+ #.5J©%&('m§ LH§ A© §*@304.!$ 13(*, (*

A/0{ N,a\30,t2., #6"8 ./0¦@30J*46AL#j@.81 ¥. ©a§ 1904.!

04f4$§ §81¦%K© §M 2. 6 z:2.4:*§*46 ,*J0©4W¥ "4 A/026@304.!vJ § Z

,5© 2.4:*@3=+46@."4.!o©4I § §04W_u`)#.§*A%K© § a*#.j@30 0©4

04.!H46@L'N#./9,5©*©§7= ©:J" 0©4W¥,5© ©§-A26§ §*4:¥46@¦ #.A/0

')P,5 @3¦*©R046©§*= © §* L*#.=6 .0/""(1l©%MEF23 © 4.©,5©2 

  " 26@.¦),5 J2.§*@R 91a #6¤'( +0¦_

©P§ 09"4.!5© 4: +© §*@W_

' 460@34:*/0/01¥) #6©H£ ' %P¡ J©%&('m§ la #6i©46/"1qA©3@3¢© 4

`)#.Y=.§*© ./0, 'N" #I=6§ 0,5n*" R@3§*"904.! ©,5,a46@6tv #6

+© §@Y # P}94.©'cN #.!©,5A*§ 1R©%¨ #6t,5© .0/0n(1lJ13J ,Y_

 #61I4.4.©$@.=3v*©u2.4.A\3=+A @q©46@3" 0©4 ¥M_ !6_0¥M /"0=

gx¡MG.` E ¡3`[#6 -=6§,5A*§W*©x"46@.0 )'N#6-(1:=+©% ,aZ

 # ¦©32.§*H04u/"©9©  aJ© "/-© §L#. @3"46!l# 4.! P #6¦©3A26§

4.2.§*7*#.N#.0/"N¨=6 6/"N©%+=+§ %K©§*,5"4.! ¥4 @t=6§*,Z

©4RJ/0©=+_ e#64R@.§ 09"4.!v23*©4.© ,© 26 /"1 ¥ #6F§*©§¤,5}

A*§*#6)@3>* H'N#6)A© 46(*n*23 )¦#6 #§@ ©t #.H#."Z

"*¨©'N4@30 "© 4 © 23- #.N +J')81x ©x§ #vn¨"4:*46@3@

A/0cZ7=6§,5 §-*#6m,5}F 4 JP45%K©§M4: 0§ /"15@3§+§JZ

!©:/P/"©3 0©4W_pEmR# J = nY§ *J  $nR n*26*"© 4

4:x,5© .0/""(1j=./ %K©§*,5_vG9/n%&Z A© /"/0J0©4i@.A >*"© 4 @3© 4.v 91

6 J@u©4u #6f/ (v"43%K© § ,a 0©4o%K§ © , *#.f49:0§*©4.,54:V

 #6j"46J §*2.,54:$§*,  ©%&(')§*Y46@I'N#6/"Z § ,©/¤d6/" §*

§*©§7=+©  n*"© 4(*",a @v 91¦'N#./.46A©3@3§*¥'( +0e46@< 8© §

04ogx¡MG.` E ¡3` A© 46J@3§P 'M=3JZ ©23H© /"2.,5F©%¨ #.,5© .0/nZ

%F 26/mXH@.©,5A*§ 1¡ ;§*©3}§  © !0vA© 43d6! 2.§* 0©4 , 2.§*@

"(1q 13(*,l¥)%K©§l ",5=./00n(1q4 @ A© 46J§  J,r]K"Yf§§*

91 =+©*4: 0©,5 §¦46@u46©3@3§¢ 7*#.f/0/0© ,54 v©%) 0,5

 # t491j=6§JL©%¤ #6$§*, "4: §* A*x4i #.$ 'm=3L©2.

§*,a04.04.!F%K© §¨n@3§*" £ 46@P=6§ @30A 0©45 +©23¨*#.NJ# =+

© /"26,N@32.§*"46!,5©:(N©=+§*"© 46^>_

©%¦"*Y4:90§ © 4.,54:R©,5=.23*@q%K§*©, §*A4:Y4 @ A2.§*§*4:

=6"§-©%?(*§*©x0,5!_-`)#. N=6 .0/0n*"/0/"©'I #.N§*©§

EFA 26/)"4: §J%< A04.!¢*© ,5© ©§5A© 4: §*©/m/0>*§ © 4.v0@3©46

 ©l@3§*" v*%K/"1 ¥+4i04 §* N%K© §P'N#.#¢*#.§*0H4.©R#."! #

91$*#.¦,5©*©§cA© 4: §*©/W@3:A¦@.§ 0§cJ©%&('m§  ¥. XH`x_6 j©Z

§* ©/023 0©4Y",a!§*1$80/0 ./0P +A%K© § #646@W_

.0/""(1¥:046(*§ 26,4:¤§*,Y¥ #.0!#5! "4a4:*4.46N= © "4:*"4.! ¥ 46@ ,aJM,5§x= © "4: 04.!/0/626 N #60m@3§*" §¨%K© §¤§*2.4.4.04.!t,5©Z

 © §*FZ) #.1¢/0/ 2 J .§*26J#6@j,5©*©§F'N" #oz:26@3§*2.§*t§*/"Z Primary Autonomous Capabilities

*" F46A©3@3§*M©=+§*@a 9150@.4: /Ok6' © ©4: §*©/0/0§0,vZ

¢¡M£ #60/"¦=.§*©90@3$ #.§*$© §J*#.©! ©46/¤=6 6"/0n*"L%K© §

=./0,54:*@Y"4;5-kMgxEP_M`)#.L XH`  ©%&(')§*H0N! " 4l5J 2. ©46©,5©26R@3§*"904.!6Vu`;§ §04 EF* *J,54:¥ck¨ # G3/0>Z

©%H,5© © §*v*©w§ 2.4;¥M4 @  !©:/)=+©  n*"© 4b%K© §5# ,5©*©§_

 0©4;¥:46@/%FJ26/ k-©:J 0c=O@. _¨EF/"/+A©,v .046*"© 46-©%O #6 

5-kMgxEPv§ $=6§ © !§,5,5@u=.=6§ © =.§ */01¥-46@I/0/¤,5©*©§

,5©3@3M§*c88"/ 6/")*©L #.P#92.,a4a§*©§@.§ 0§*-=./464."46!

04i*#.aJx§ (§  @ J0,t26/n4.©26 /"1 _t ¢\90,t26, ,© © §

§*©§¦ >*"9" 0¤ `  ./"YSl46,5t/0/¨*#.R©,t 6"46 0©46¦©%

/"©3n*"m§ H /0@RJ©v #6N4.©,5046/0/"15*#.1R/0/O©,5=./0A*

 #6 L,©3@3N46@l 2.,5,a§*#M #."§F26J _

 #60§N,© 0©46) ",v2./"*46©2 J/01_G9#.© 2./@R4:1a,5© ©§)\9=+§*"Z

4 At5%<2./"¥OJ26#¢ cJ*/0/;© §F© §*#.¥./0/;,5© ©§N04j #6

]K© § ^ 4

' Terrain Assessment Predictive Hazard Detection

!§*©26=u§ $23 © ,a /"/01  #923v@3©'N4;_Y`)#.RkA' © /0©9©=u%K© §

,5©3@3¥O©46¦©§P,© § v(*§*©$=6"§c©%",a!P§*¦=.§*©3A* @

4f"46@."9@326/O,5©*©§M0M§ 264R4 :¤.9#F04$ #6 5-kMgxEt_3G3©%&JZ ,a=W¥?46@j,5§ ! @j'N" #

04 *©R$ §8§* .0/""(1$© § goodness

')§*L,© 4." ©§c=6§ © !§**L]K=+©  n*"© 4¢,5 2.§*@l 91Y46©9@.§

4j\30J 04.!$,a=;_PG9=.0§ "P2 JN #6t +©[email protected] Z ,5©2.4:*@ STa@3AZ

h

4 @[=+© 4: 0©,5A*§¥2.§ §*4:5@3§*8' 91u #6R,5©*©§*^t&, !§*;5-X % .PE¦¥ EP ¢a%K© §a § §04e*J  ,54:¥m .23lXP=.Z

.-# _

=+©§  2.4."(1$26 )=+©04:* ./" ¥3,aJJZ ,© 2.4: @$U" @3!§**57X-%

h

DFE % EF iL 26Jv #6$ j§*0@.04.- § §04i#6 x§ 1ld646

h

`)#.¢© 49 ©:§@I=+©  n*"© 4q0f4.©,5046/0/"1bJ 0,a @ :1qA© ,Z

!§04.@¢J© "/  # x0P4.©x§* ©/08 ./0t04¢ #6/.PE¦¥ EP 0,vZ

.04.04.!  #.u'N#./x,5© 0©4 R,5 2.§ @ 91e4 A©3@3§Y'Nn*#

! P¦S \6S §* ©/023 0©4;_ ' %¤=  # J/"> 0©4i0x/ ©$43Z

#.@304.!v# 4.! ¨,5 J26§ @5 :1*#.P! 19§ ©:¨"4$ #.4'( +0¦¥: .23  6/"@?¥c46@3@.*¢,5© 0©4 =6*#6f§ ¢=6§ © (>*@q04: ©w*#.0

5 Terrain Path Visual Driving Mode Assessment Selection Odometry Spirit Opportunity Directed Driving no no no 451 m 9% 1973 m 33% Visodom no no YES 410 m 8% 561 m 9% Blind Goto Waypoint no YES no 2196 m 46% 1911 m 32% Visodom Goto Waypoint no YES YES 379 m 7% 121 m 2% Guarded Motion YES no no 36 m 1% 117 m 1% Guarded Visodom YES no YES 0 m 0% 0 m 0% Autonav YES YES no 1315 m 27% 1262 m 21% Autonav with Visodom YES YES YES 3 m 0% 0 m 0% 4798 m 100% 5947 m 100% Table 2. MER driving mode usage as of 15 August 2005, counting 573 sols for Spirit and 555 sols for Opportunity. (Distances are as measured onboard, and can be overestimates of actual distance traveled if wheels slip during non-Visodom drives. Only

rover translation distances are reflected here; turn in place and single-wheel trench digging motions are not reported.)

`)#.§ ¤§ M/J©)('m©c©§+Z 4.©,5046/ #689"© §*W8"/ ./0VO 6 }:Z

2.=6¤46@/0",5"¤A13A/0) 2.§*46_-gH©:/7 #6/"0N046J@3)*#.) 0!#:JZ

J) 2.§*4.04.!aA0§*/"a] A©§*§* = © 46@304.!¦*©54Y§*P'N" # P,5 §

§@3026^c4.4.©F §*#6@l26 "46!R§¥OJ©$04¢*#.©  v " 26Z

 0©4 M4f§) # M }3¤8')81¦%K§*©,p #6F!©:/ 0mJ/">*@$ 

 #6t=.§*A%K§ §*@l§x=6 #W_-e#64¢ 6 }9"4.!a26=¢"4l*#.F,5©3@3¥

 #6 §*©§R@3©9Y £ :HZ  2.§*4¦¥.¥c@.§ 09"4.!b"4 nR 0!#: (j§

8')81¦%K§*©,s #.P!© /6/0©3*"© 4W_-EFM©% 5. .§*26§*1STT .¥'N#.4

v 6}92.=$ +# 8:0©§mM#.©:J4a #6H#6"! #.Jm=  #R/026 0©4

5#6/0@?¥'N#.#b04 =.§* >*0Y26 5o= © "4:5 26§ 4b ©u +

=.§*A%K§ §*@i©§x4o§¦*#6L 6 }3P26=W_`)#6§* 2./"H©%¤*#.0

8/"2  0©4 ¥c'N#60# § 

=.§*©3A* "4.!I0Yb AY©% Waypoint

,5§*!@I'N" #  #6 XP 6(/"l=6 # /026*"© 46a4 @I§* 2./" =6 .0/""(1¥O"%M`;§ §04iEP  *J,54 H0

04 Hazard Avoidance / ©46 6/"@?_

Figure 3. Illustration of Terrain Assessment and Path Selec-

§+Z 4.©,5046/+ #689"© §M@3 >*m'N#.4$*#.P§*©§ tion. Red cells indicate unsafe areas around the large , `)#.xJA© 46@a©

yellow cells indicate traversable but rougher areas around the %<0/W*©F,a} ¤=.§*©! §  W%& § ,v2./n*"=6/"m(*=6_7`)#60 'N"/0/9#6=.Z

6%P0 26/XH@.©,5A*§ 1j@3 A*x ©f,t2 #  /"0=¢*#6x/""J*/"

smaller rock, and green cells indicate safe and flat areas. =+4on%

=.§*©! §  L¦,a @3¥¨© §t"%c #.R=6*#w ©i #.R!©:/¤v ./"©3} @

91Y ©9©$/§*!t4¢© 6J* A/0t4 @Y #.§ © §N} = c*§ 1904.!$2.43Z

 26*(%K2./0/01f*©f@3§*" ¦§*©2.46@l"_ ' 4jn*#.§H J ¥. #6

,a= ] J+5 0!26§  ^>¥N46@eu'm0!#:*@ /026 0©4q©%x #6

 Limit 'N0/0/M@3 At*#.fA© 46@3" 0©4[46@u" #.§L § ,5"Z

A© 46J " 2.4 A/0/L0v*J0!46@i ©¢#u=6*#W_l`)#.0t§ J26/n Cycle Check

46 Y #.¢©,5,a46@I©§5%K© §*f*#.j§ © §v ©o 26§ 4 "4q=./

=6*#q/026*"© 46¤ c/"©' /02.a046@3"Z

04qw A$©% Obstacle

 ©,5P,© 2.4: ©v!m¦46'e#.@304.!6¥:%K§*©,p'N#.#f"M,5"! #:

 x/" M §8§** 6/"c=  #;¥.#.0!#f/"2.)"4 @30*H,5©§*

d646@l +AJ*§c=  #j§ © 2.46@f #.L© 6(/" _

 §8§** 6/"P=6*#W_

]K©§ ^>¥: #.L§*©§M26=3Z ' 4

¥6*#.v§*©§cF! " 4i23 © 4.©,5©2 FA© 4: §*©/ 4

' Path Selection Visual Pose Update Visual Odometry

@. fnf2.§ §*4:$=+©  n*"© 4 46@ 8©§RJ*n*26@3 :1qA© ,5=6§ Z

]<"4wA© 4: §JF © ¥

©§P"*t@3§ 05@30§ >*"© 4 Directed Driving

04.! %K*2.§*R%K©2.4 @ 04|J § ©I0,a!o=6"§R*} 4 %K©§*

04b'N#.#I"5%K©/0/"©'coJ04.!/0Y=.§ Z ©,5,a46@.@[§*R=6*# ^>_

4 @i%&*§¦YJ,a/"/-,5©*"© 4 J =;_>$m©*# ¢¡M£ #.A/0H26 

` ©u /0A$,5©4.!o,t26/n*"=./0j=6 #6¥¤*#.jA2.§*§*4:¡ t¥ ¢ ! © /

h

DFE % EF im%K©§M #. %FJ2 /;XH@3©,5 §*1l]<©§ %F ©9@.©,$^=6§ ©Z

]<46@ A2.§*§ 4:v§*©§ ¥?^t05§*=6§ © (>*@u%K§*©, 'm©§*/@w%K§,5

A  04.!6¥ "4 AR #.l /0R#64.!t046@32 A@I 91w4I ,5/"/

04 *©j§ © §P%K§*,5¥ 46@ ©*L§ a* "! 4.@¢ ©¢/0/¨=+© *J0 ./0

h

,5©*"© 46"4I #.Y'N0@. 5-X % .FE ¥ EF ",a! v,a}l2.Z

46@3@.*5=6*#6LA©§@304.!$*©l#.©'y §+> 0/"1i# =6*#

 © 4.©,5© 26N*§* }:04.!a©%¨%K*2.§*F@. A26/n_H`)#.P=.§ ©3*J04.!

'm©2./@u@3§ 05*#.$§*©§x ©')§@i"*t!© /=+©04 _Y`)#6$=6*#

©46/"1f©49§ ! MJ26A J%K2./0/"1$"%7 #.H § §04Y#6)5J2 "4:

 # l'M© 2./0@q/0 @ @30§ >*/"1q*©'m§*@b #6 ! © /P0R!04e #6

492.,t +§L©%¤%K 26§ x: " ./05"4u#  @J4:L",a!5=60§¥

#.0!#.(¨8/"2  0©4;¥©*#.§¨=6 #6¨§ )* "! 4.@t/"  §-/02.

h

 ©v*#.¦#92.,a4l§*©§)@.§ 0§N,t26Jc46 2.§*H #6PDFE % EF ¢

A© §*@304.!j*©ougx2   04I@3(*§ 0 .23*"© 4W_[`)#.Y§*046AR©%

§*5= © "4:*@o ©')§@¢2 J%K2./%K 26§ L491: 0, %P0 ©3@3©, 0

 #L@30J §*0 .23 0©4L;©43d !2.§ ./0¥4.©,5046/0/01 _ S)2.§  2.§*



26 @?_

2.4."*N%K©§c§¥¨@"v@3!§*M%K© §c= © "4:) 26§ 46_

6 Figure 4. Front showing a non-geometric hazard Figure 5. Illustration of Goodness Map from Spirit’s encountered by Opportunity on Sol 446: 50 meters of com- 107. Red areas indicate obstacles (typically a rock taller than manded driving resulted in only 2 meters progress, which you 20cm at the center of the red blob), yellow/orange indicate can see in the tracks leading up to Purgatory Ripple, in which traversable areas. Only information within a 5-meter radius Opportunity was mired for over a month. Although this was is maintained in the onboard map. a “blind” or Directed drive, Opportunity might have gotten

stuck even if GESTALT had been turned on because there *%K¦*#.§ © §F'm©26/0@j +n%¤"*

were no geometric hazards to avoid, just loose terrain. For- /02.¦*#6x§*=.§* 4:*F#.©' _-`)#.0 §* 2./n;04t tunately, Visual Odometry has been used ever since as a Slip A4: §7'm§*/"©3 @L©4¦ #67A/"/ configu-

Check to ensure we never command more than 5 meters of ration space 'm©§*/0@f,a=W¥3 +26 xnc@3 § 0 N %Kx#60/"

¨(Aa © 2.46@.§ 0_ 5.©§a\9Z

driving without a guarantee of motion; this new safety check A© 43d6! 2.§* 0©46¥4.©$=.§*A Y©

§*©3}i¦4.©v§*=.§* 4: @  t¢ 04.!/0

helped out on Sol 603, when Visodom measured 44% slip ,5=./0¥¨l/0©4.YST,

J2646 %K ¥!§*@R/0/ _A' 4 (*@W¥6/0/;A/"/)04¢v§*©§JZ  #@$@3*

while climbing a similar dune, and stopped the drive before £ 'N"/0/¤ +f,a§ } @uL2646 %Ki]< ¦04

getting further bogged down. Opportunity was able to back A4: §*@o© §L*#.$§*©9}

57"! 2.§* ¥7 2 Ja#68904.!l #6$§ ©3}o4919'N#.§*52.46@3§¦ #6

out easily during its next drive. 

§*©§m'm©2./@f +L2.46*%K 9 #6c0¥./0/?#.A/0x©43d !2.§*"© 46

]K/0©3 0©46m04R*#.x'M© § /@6^ #6c"4 A/026@3H #6N§ ©3} anywhere

2.46@.§*4. #l #6t§*©§F,t26JF +v@3A/§*@l2.46*%K _957"4 @3"46!

Terrain Assessment Overview u %Kj=6*#I*©[@3§*" Y5*#:2 5§ @326A@b ©od646@304.!w© 4./"1b

AZ A/"/"Z 'N0@3H=6 #Y #.§*©26!#R #.L! ©:©3@346*),5=W_ e#.4L= §J%K© § ,504.!c`;§ §04LEF*J  ,54:¥ #L ¢¡¤£u #.A/0

t 6/"a*©jd646@u! © , §*05# #§*@6L"4u*#.$4.§* 91¢ § §04

Ec/" #6©2.! #  #6o ©%&(')§*  2.=.=+©§ *R©§*"4:**"© 43Z @3=+46@.4: #§*@6H§ 

before n¦§x@.§ 0F*#.§*_$XP4./01¢!©,5A*§ ¦# 

!©9©3@34. 5   *J,54 ¥¤'N#.# ,0!#:a,a} Y"a= ©:  0 ./"Y*© %K©2646@ H4.©I* *J,54:a©%x*#.iJ* 6"/0n(1 ©%x*#.j § §04q0

46890! *¨! =6W46§ §*©'m§O # 4¦"* J© /0§;=64./¥ #6M=.§*©3A JZ =+§ %K©§*,@f© 49 ©:§@i]< ¤570!2.§*xUt%K© §c4YA\.,5=./0x©% 'N#91

04.!L©§ #.@v§ z:2."§*@t ©vJ2.=6= © §J"P]<L = § )! ©:©3@346*  # a'M© 2./@[ +j26J%K2./&^>_ 5.©§5\3,5=./" ¥MuG: =q#6#§@w0

,a=o%K©§L#o©§*"4:**"© 4 ^F'M© 2./0@o#68  /0©'M@ @3©'N4  #6 @3d64.@q 4b© ¨(A$/0§ ! f4.©2.! #I*©u= © 4:*0/"/01I#.0!#.Z

2. ©46©,5©26@3§*"904.!¢*©o4I2.46§  ©46 ./"f§* _ ' 46J @?¥ A4: §P #6 #.A/0¥?n*#.§H©4i #.&u§*, ¡/0A §*©4. $M©8\

 § §04i   *J,54 H0x=+§ %K©§*,5"46!f 91j,5©9@./0"4.!Y*#.v§*©§ ]  ¡7$N^;© §7 #.)§*©9} § 8 +©! "¤ 26 = 46 "© 4W_ ¢¡M£I'N#6/-§*

91lnF*2.§*4."46!RA0§A/0vHRS._ $, §x@.0, §H@3*_x`)#.0 S A, 04I@3,5A*§¥46@I©4w v! § © 2.46@u*#.R +/0/01o©%c #6

h

@3J0!4j/ ©! " )26F526J%K2./;049§*04 V ¡6$ PS@ A, #.0!#W_ © 46J@3§ 04.!5 # F*#.¦ #.A/0¦,5"! #:

 the autonomy sys-

 0/"¨ 7,t26# P@3! § ¥846@t/"/0©'N04.!c%K© §7,5 2.§ ,54:

 tem will only drive the rover into areas where it can safely  #6¢(*§*©u@..¥M #.l=6§*, §5@.*A§*" .04.!o #6

§*§*©§"4 turn in place.

,a\30,t2., #."! #:v©%HiJ 0/"/"Z *§*8 §  ./0a© 6J* A/0f')J

XP2.§46/013J;©% *#.m § §04v©,57%K§*©, /0©3/3=./04.md.J*"46!  ©$STA, %K©§N4.© ,046/;@3§*"904.!6_

©%M #.$J § ©Z A© ,=623 @¢§4.! @.*6_5`)#6§*©§{ H*J JZ

,54:;©% *#.¨ § §04H0?  @H©4x#.©'o,t26#x#x§ © § Z  !#@ `)#.) ¢¡¤£[#60/"{8#6 #§@L@3 A 0©4J©%&('m§ ,5©3@3/0  #6

=6*#i©%¤!§*©2646@i@3§O§F%K§*©, f H=./46_t` ©Y46/01 # 'm©§*/0@¦S © ! § @?_-`)#.cJ!#F©%+ #.c! § @5A/"/¨¤#.©:J4t*©

!04$§*©§ Z J!#@v= *#f©%? § §04W¥9/0/ ¢ ¥j= © "4:%</"/0"46! ,a#$ #6P,5# 4./"/01:Z @3 § ,504.@a© 6J*/"HJ!# ¥.ST,l_

'N" #.04j # P= *#¢§ xd6F ©Ya=./4. _c`)#.¦=6§*,5A §*c©% § 1904.!j /§ ¡¤ #[A/"/m(*©§*tiA©4:*"492.© 26J/01:Z goodness

7

© /"©3 0©4Y©%  #.x%K 26§ LN*#6c=6n\3/ _  # =./4.md.m§*M26 @v*©¦*J 7#.©'  %KM*#.N§*©§-'m©2./@



+"%M"L'M§ v #6§*¥?04o4:1j© § 04: 0©4;_tE A©4:*"492.© 26J/01:Z

Ec/" #6©2.! #b*#.$/0!© § " #., # a +4 2 J@  26A*J%K2./"/01[04 L"4 @3=+46@.4: /01o©,5=.23*@o04w#o©%

§*19"4.! goodness

§* §#  AJ*"46! ¥P §*/c46#646,54:R'm§*i,a @3¢*©  §*/d /n*§V; #.cG:*=W¥:`)"/"¥:46@v£N©2.! #.4.  d6/" §*_7`)#6

0,=6§ © ¦nF§*© 626(*4.*N%K© §P ¢§*F©=+§*"© 46_9' 4¢=6§  A2.Z d646/¨/026 0©4i©%mYA/"/ { x! ©9©[email protected].*H0H*#.5,©:(¦©46 § Z

/§¥9  §/ d6/" §m'M§ H@.@.@f ©v #.L/0§*@.1\30J 04.!5J *" N©4.N%K© 2.46@5 91v491t©%O*#. Nd6/" §*¥ @3 § 0 +@ /"©'L_

©%2¡;A%& £N0!#:7¡W04.c©% G90!#:P]¡ £-¡7XxG6^>¥$m/0© W¥ $m©§@3§¥46@

h

2.§* 26§ L`)#.§* #.©/@fd6/n*§N@3*A§*0 @f04 , _ Dc©e` §*§*"4|EF*J  ,54:j4 [@.©4.o2.4./0*l!©,5A*§ 

043%K©§*,a 0©4[ © 23t*#.$*§*§*"4w# ¦ +4I,5 J26§ @?_ XP4 ¢¡M£L¥.(*§*©a,5§m=.§*©:@3P #.JL,5 2.§ ,54:*_

Gamma Correction `;©H J*§-4.# 46¤*#.N@3A0/:©%. § §04

#.@.@34i 91¢J# @3©'|%K§*©,  #.§*©§H46@¢4.§ 91Y§ ©3}3¥+'m 0,a!_

Robust Stereo Image Processing =6=./"1f! ,5,a5A© § §*A 0©4$*© #.L§8'

¢¡M£e§ © §-26 c=6* " F(*§*©¦0,a! c=.§*©9*J04.!x*©t,5Z

EF4:1RA2.§*x'N#.©:JH,5"4.0,t26, N4.©N2.460z:2.$]< _ _

 2.§ N! © , §*0)043%K© § ,a*"© 4a +©23¤46§* 91L § §04W_¨G: § © Flat Filter

 #6§*F #.a*,58/"26v'N" # nx4.0!#9 +©§*^c'N"/0/¨    §A 0Y #.4.©/0©! 1w%K©§f=./04.A§*1I\9=6/"©Z

90 0©4q0f4 either

§* (A @?_

§ 0©4l +26 LnP#6F/"©'|= ©'m§N§*z:2.0§*,54:*F46@l4.© ,Z

046/0/"1|§*z:2.0§ l4.© ,5©9"4.!e= § *_ Q:k6¡¤{ i(*§*©e90 0©4

k¤2.§ /"1 #.© § !#© 4 /F%K*2.§*Y2 J¢=6§ © 3Z

    ¥  S  ¥  = A/0/"1 "4w§*/

 ©%&(')§*# ¦l/0©4.!j#60J © § 1 Overhang Filter

/0,al%K©§¢*4./0"4.Z  @|(*§*© =.§ ©3*J04.!6_ 56©§j\3,Z

§*© +©  J13J ,ae] ¢§o§ © §o§ J§#    ¥+ S S ¥; SB  ¥



=./0¥W04u©2.§H*J +@o499"§*©46,4:¥W@.§ }j#.© § !#© 4:*/7=+©'M§

Em #646   ¥*0F4.,a4.46@ gH§ © 2.46@ %¨#.A/0  U ¥Hk¤"© 4.§



J §*"=6 /0©4.!cc'N#.n*¤')/0/ =.= §*@H*©N #.M§ © §?/0"} ¤ = §

   ¥B0c§* .0    ¥.46@lk-§A=3 © §4 S ¥  ,&^A_

=+©04 *"46!R@3©'N4iF*#.,5§_PG9046t©26§P4.© ,5"46/7@.§ 0:Z

04.!¢4990§ © 4.,54:t#6 ¦4.© #.04.!i# 4.! "4.! @3©'N4u%K§ © , © § Z

`)#.¢G9© (©2.§*4.§§*©§5@3,© 46J § @w*#.Yd6§*J526Jl©%H2.Z

#.@?¥:'Mcd6/n*§m©23)491§*4.!N/02.¨ # m=.=+§¤ ©¦/0©9©,

 © 4.©,5© 26MJ § ©¦*§ 4.! 2./ 0©4f©4Rt=./4.*§*15§ © §4    _

6 }l ©')§@j #6§*©§_vEc491¢=."\3/¨'N#.©:J5§4.! t/02.50

$m23F*#.G3©(©26§ 4.§P 13(*, § /"0@j© 4¢A 0¦=.§*©(>*"© 4j©%

 ©,5R=+§A4:*! R/"©:J§v*#64b #6©  R +/0©' "504b #.l0,vZ

Y/ §L(*§ 0=+¥ 4 @ © 4./01¢%K©2646@u¦,5© JvST ¢ ¥I= © "4:*

! vx/00,046 @W_`)#.vd6/" §L#6x=.§*©4¢26 A%K2./¨04 6"! #:

%K§*©, #l=6"§c©%(*§*©a0,5!_7' 4¢A©4:*§* (¥6 ¢¡¤£|26 

915©9 J0©46/"/01¦/"0,5"46 04.!t46©J1§*4.!P@.L 1© 46@5 #6

=6   " YJ § © 9J0©4;¥¤§*/01:04.!o©4qJ264./"0!#:5 ©u0/"/02.,5046*

4.© ,046/ t,5 §P`;§ §04REP  *J,54 c@3J*4 A_

 #6t*§*§*"4W_LEF46@i 91l9"§  26v©% #."§H%< (*§H=.§ ©3*J© §v] ST

+.9#H©,5=6§*@a ©5T._!P +.9#P© 4YG9© (©2.§*4.§>^46@a4.'  ©%&JZ

`)#68STo@3! § fd /@I©%H90' ©%F*#.

')§*¥ ¢¡M£I #.A/0¤A©,5=.2. N,a491¦,5©§*)= © "4:,5 J26§ Z Fixed Vehicle Mask

h

.FE ¥ EF ©=3*0m0mJ©/§*!N*#6NJ© ,5F=6§J¤©%W #.H#."Z

,54:*VcXP=.= © §J*2.4."(1R# N,5 J26§ @Y4¢8§*!H©%¨U,6¥ T TT

A/05=.=+§H04o# ",a!_v`)#. v46@¢ ©l +/"0,5"4  @

h

¢ ¥f= © "4:*-045 #v©% @PDPE % EP ",a! )=60§*- -©%?J© /

+A%K©§*$*§*§*"4w=6§ ©3A  04.!¢4[©3A26§¤ "v'm©26/0@34;{ 5@3©¢%K© §

S S3¥34 @YG9=6"§*nc# ),5 J2.§*@Y4l8§*!c©%  3¥ TT T ¢ ¥



 #6f§*©§x*©i +R%K§*0@u©%)"*v©'N4[§*, ©§t'N#6/ ¥7%K©§v"43Z

h

=+©04 ¦04w #w©%¤ ,").FE ¥ EF 0,a! a=60§*t¦©%cJ© /

J*4 A_o`)#.©  f #.A/0f= § *L*#6a/0')819t=.=+§t04[ #6

U9S3_



*,5v=6/0 A"4  #.50,a!Y]K _ ! _"¥?*#.a(*©'M@;' ©4©t¥; ./004.!

,5©2.4:*@q4.§$*#. ,5§¥m #.oJ© /0§a=646/x +©l #6

`)#.a! 4.§*//0!©§*" #., 0¦@.*A§*" +@o04  , ¥ .23t'm$J26,vZ

h

§*§¤.PE¦¥ EP ¢*^¦§*/"0,5"4  @ %K§ © , A© 46 0@3§* 0©4 26(Z

,a§*#$*#.R ¢¡M£ 0,5=./",54:* 0©4[#.§  _' ,a!4[ +

04.!ad.\3@R=.n\3/nZ 6 @R,a }O_

z:2."§*@q2 J04.!I4:1 ©%L*#. 8"/ ./0¢J §*©I=60§*¥m(19=.nZ

h

/"/01o #.f%K§ © 4:4 @w§ §/.FE¦¥ EF ¢v©4bG3=."§*"¥¤46@u #6

0c43%K© §J*2.46*/01¥l*#. d6\9@  #.A/0

h

% EF ib© 4 XP=.=+©§  264.n(1 _ `)#. §8' @.  § @

DFE Moving Vehicle Mask

,a }u04.©4.©2.! #w ©o/00,046 l/0/m= § *v©%c*#.R§*©§

 T SU\6S e§ J© /"2. 0©4 46@  ©%&(')§*AZ @3©'N46*,5=./0@ *©

h

%K§*©,  #./.FE¦¥ EF 85-X %v_<' 4j=6§J*02./§¥. #6t'N#./F4

S \6S l§ J© /"2. 0©4W_ ' ,a! t§ f #.4b§*A "d6@ ]K _  _"¥M§ Z

,5©j%K§*/"1 *#.§ © 2.!#6©23R #. d6/@ ©%¦9"'L¥P ©w #.1 §*

*,5=./0@6^Y*© /00,046 I4:1|/046 @30J © §J*"© 4 26J04.!ed6\9@

A© § §*/*@l/0©46!a'Nn*#l #.t §*§04l46@j§*Ld6/" § @l©23P©%

h h

E9.9%PXH£ ]K§@.0/v@3(*©§  0©4 ^¢©§ E9.-%PXH£F¡ ]&d+J#.18^

0,5! ¥W§* #.§H #64 *#.a©§*0!046/-0,5! _Epd6/"Z  #6

?  _ ' ,5!¢§*o #.4 A©§*§*/ @ © 4 

,5§b,5©3@3/0 range

 §FA© ,5=.§  "4.!$a 'm=3P19/"046@3§*0/W ©/02.,5L§  6A 04.!5 #6

*46/"04.AZ 91:Z *4./"04.¦  0P26 "4.!Y 8\¦$ z:26§ v=."\9/7 2. 3Z

§4.! P©% ,5©*"© 4R©% *#.x§ ©3}§JZ +©!0P 13(*, 46@Y(*§*04.!

'N046@3©'q46@v #6PG92.,p©%WEc J© /"23*-©F§O§*46t] G3E ©H^,5AJZ

,5©*©§7/"0,5n-07=.=6/"0@¦ ©x/0/:§46!M@6* 491L=+©04 ;/019"46!

§*0_ G3E9© *A© § ¦§*$!4.§*@w/0/M46@.0@. R"4: !§

04R*#6c ©/02.,5L§*P/"0,5"46 @?_

@3J= §*n*"Mm*#.H4.©,5046/WS \6S x§ J© /"2. 0©4W_-E|8§ 0A(1

©%¨A© 46 0J 46A1f#6}3)0F=.=./00@R ©5*#.¦§* 2./n*"46!5©§*§ /0Z A2.§* ¥+46@j©46/"1Y #6©  vA26§  N*#6HA\3#.0 ."xf2.4.z 26

 0©4 Terrain Assessment

,5"46",v2., §*tA=3 @¢P/00@?_x¡¤ #¢/00@¢"4: !§P@3(Z `)#.) ¢¡¤£[#60/";26 *#.NgH§ @9Z 6 @L¡M(*",a*"© 4¦©%OG92.§ Z

=6§ "(1¢x #.4u,5=.=+@  ©¢ © = © "4:¦26 04.!Y #.$,5§ %<`;§8§** 6"/0n(1cEF=.=./0"@x ©-¡;©3/ `;§ §04] gx¡MG3`7E9¡3`c^



h

,5©3@3/ _7`)#6¤d64 /9§ J26/n-©% J § ©F0,a!M=.§*©9*J04.!P0  #926  19J , %K©§H § §04¢*J  ,54:/ ,  _*' 46 =."§*@¢ :1 § 46!0

4R",a!H'N#.©  P=6n\3/?/"2.)§*Pn*#.§ 0c46}:46©'N4W¥3©§m #6 j/"/0©4W{ x j©§*=.#.04u/0!©§*" #.,8 ST ¥A SU  ¥O*#.0L 13(*, 26 

8

© !©,5A*§ m"43%K© § ,a 0©4 ©L(*",a*c#.©'  %K) #.c§*©§ ©46 A© ,5=./"  § © § Z  #@I%K©9© =6§ 04:_ .F46o/"/H`;§ §04



'm©2./@Y ¦c#l=+©04:c"4l*#.L'M© § /@?_mXP§*0!046/0/"1$@.,5©43Z EF* *J,54:=+§ %K©§*,5@4.§- #.F@3! ¨©% *#.Nd6/0@5©%+90'

J § @e©4  #.wEm*#.46 £N© §f=6§ © ©(19=+?  ¥F"j0Y4.©'   @©4axA© ,=6/" c@3 ¥ .2.¤§* #.§x=6§  /.@.0*_

 not

+04.!R/026*@¢© 4j (* @i #.A/0F%K©§H=+© 4: /-26 v04 `)#6f,54 a # R'N#64 4e© 6J*/"j/08 5*#.¢d /@q©%

 #6L2.=+©,504.!$ iG¨¡o,50* "© 4Y )'M/"/6 S  _ 9"'L¥:/"/ %K23*2.§ P § §04$4 /019 'm©2./@%<0/6*©¦}Pnm"4:*©



A© 2.4:_-`)#.0)26 ¤ #.xA© 43d6! 2.§* 0©4$ =6P46/013J¨*©

.§*}x@.©'N4 =./"46!c #6)4: §-©%6*#.)§ © § 4.§ *#.)@3! 

EeA4: §/3@3H045 #.¨0,=6/",4:**"© 4507*#6 new data al-

©%; #.P: " ./0Pd6/@$©%W:0' ,0!#:)J, =+§ %K>*/"1a*%K ¥: +AZ 45=6§  A26/0§¥4.©x,a  §#.©'I*%K

ways overrides old data. '

26 F*#.x=6§  / © @6*@3©9)46©N"4 A/026@3H #.x© 6(/" _ ©§M2.46*%KHL!04$A/0/+#6@5 +4RA© 46 0@3§ @?¥'N#  § #6



EFmL§* 2./"¥04$§*/"1v",5=./0,54: 0©4 ¤©%+*#.P ©%&(')§*) #6 / ()§4.! P@.*J#.©'cm #.©2./@$ +P*} 4YM §*2._¨`)#.m0

§*©§M'M© 2./@fJ*§ N@3§ 09"46!§ © 2.46@$4f© (A/0¥:*#.4l(*§ ¦2 J%K2./O'm81 ©5A© ,5= 46  F%K©§M('M©v=.§ © ./0,a_1570§*J¥: #6

6 }f@30§ > /01$04: ©5n_ §4.! ¤@.F©,5=.23*@L%K© § © ¨(A*;%<§ %K§ © ,  #.m§*©§;07/0*

A2.§*¨ # 4t46§* 91P§46!M@6*  91H© §*/081904.!N4.'I@.

` ©H @.@3§**? #60¨©46§*4W¥8'Mm"4:*§ ©3@326@vc,t26/n*nZ  /0M§*=.Z 'm/"0,5"4  $491¢,50 /026 0©46H*#6¦©32.§*§ @¢ +26 

§* 4:* 0©4i©%M*#.a'm©§*/0@?V¤¡ 81§*@ogH©9©[email protected].*L ¢= _ ' 43Z ©%¨046A2.§")"4¢ #.¦§46!¦@.*._cG9A© 46@?¥6© §*/081904.!©%

J  @f©% =.§*©3A  "46!¦ #6¦(*§*©Z @3§ 0@5!©9©3@34.*)@30§ > /01¥ 4.'|@.*5,a} m*#.¦§*©§{ M ."/0"(1$ ©a4 8:0!  x,5©§*x§ ©Z

'mfd6§J£*J#.§*04.}¨¥j© 6J* A/0v ./0© 654 @[,5§*!R #., "4:*© .26J5 ©w491w=+©  n*"© 4I(*",a*"© 4b§ §*©§¥- 046Al"a/"')813

 #u/081 §¦ =6§* /01¥  #64 £J! § ©'-¥R© (A/0L%K§ © , # =.§*A%K§*H*#.54.'mJ © 043%K©§*,a*"© 4 © §L491j=+© 4: /0/"1



/81§¤ 6}v ©t #."§m©§*"! "4 /  !#¥94 @5d646/"/01526JF #.P,5© J ,50 §*!J §*@f§ /0"§N@.._

A© 46 §*8 0*J  ,54:H©%M! ©:©3@346*F%K© 2.46@ "4w4:1j/81§

)© 2.§)J 0,a x©% *#.H §*§04R*%K/01_`)#6H! ©9©[email protected].*m,5= `)#.H>*26/+*J  ,54:¤M©,5=.23*@5%K§*©,s #6HJ § ©t@.

A© ,5=.23 @¦%K§*©,  #.)/ (J § ©H@.*H7d6/n*§*@v"4:*©P,v2./nZ * ©90 @ 'N" #s # § © § Z  #@ =6# "4 @3=+46@.4: /01_

 0=./0N/081 §726J04.!¦@3*-§*19"4.!H%K§*©,p>c/0/3§* @3026c]K/81§ `)#.v=6§,5A*§c©%¨ #. ( Z d6P=./4.§*¦%K© 2.46@l%K© §P#

 ^ 2.=*#.§ © 2.!#v§ © § Z  !#@t@30*7'N" #a(PA/0/3§@3026N]K/81§ §*©§ Z J!#@F=6*#W¥46@¦§ 2 J@L ©HA© ,=623 ¤ #.M%K©/0/"©'N04.! V

T ^A_L`)#.v46Ax §O>xc*©Y #.§*"4.}j4:1l© 6(/"v ./"© 6P :1w] 

ZF/81§H492.,v §*^xA/"/_3¡W©'s"46@."9@326/M!©9©3@34. H/02.

Tilt Filter `)#.MJ2.§ %<4.© § ,a/©%. #x=./046§;=6#L07A© ,vZ

04j/081 §cT5©%&*4l§*=.§* 4: £J=+©04: ¥© (A/0c/"0}L046@3090@9Z =6§ @t!:046J; #6m,a\90,t26, /0/"©'m@L #.A/0M 0/n_-k¨*#.

26/M/§*!R§ ©3}3¢ ¤/"©' /02.¦%K© 2.46@[© 4./01o04I#6"! #.§/081 § 'N" #¢*"/"L ('M4oTf4 @i ©,5t,504.",v2.,  0/"L§ v!04¢

§*=.§* 4:(£ @.0 = §* @¦¥P© 6J*/"¨/0"} F T A,s§ ©3}3N,5 § =+§ %K>L! ©:©3@346*P/"2.j] S ^ ; 0/nL +©v #.5,a\30,t2.,

8')815%K§ © ,  T, @3"*#W_ /0/0©'M@f§*H© 6J* A/0x]K! ©:©3@346*M/"2.x©%7T ^ 9 #.©:Jx04R +AZ ('m4l§*x'M"! #: @R/0"4.§*/"1 _

Partial Range Data - Clipping  #6=6/046§Hd.L04i*#.

Roughness Filter `)#6§* @326/ %K§*©,

@30§ >*"© 4R©%; #6x 2.§ %<P4.© § ,a/+=6§ ©9@3)4Y©§*/"/+,5Z `)#.©§ /819"4.!a©%4.'s@.f4 26 v/0/0P©4j*#.5@3! 

 2.§ x©%7#.©' § © 2.!#Y©§N2.464f*#.L§*!0©4R0_ ©%M #.d6/0@ ©%m9"'  ©l +,5J/026*@?_>' %m© 4./"1¢Y ,5/"/

=.0¦©%¨4l© (A/0Lc90 0 ./" ¥3 #6¦§*4.!¦@6*5§*=6§ J4  Z

04.!i"a'N"/0/)4.© lA/*J"d6@[i# #§*@W_o`)#.Y=+§A4: Z  #@

Step Filter XP46¦ #6v=./4 §F= §,5A*§N%K©§x$§*©§JZ

! L©%¨© (A/0L§4.! ¦@.a"4l*#.v/0/ c #.t@3! ¦©%- #6 ] @3(46j%K§ © , #

@3 i§*l%K©2.46@W¥) #. local elevation

57X-% @.§ © =6¥346@a*#.H/0/O0M,50J*}46/"1a8/"2  @$m*%K_ A© 46J " 2.4 LA/"/ { P,54¢/"8 0©4i ©R #6H=./46^F0xA© ,Z

oH @.@3§**¨ #60m 915 "4.!,5©§*P©46 §* 0N04f§*=6/0 A04.! =.23*@?_[E d6/" §2 J04.!  J,a/"/0§/ ¡6$MZ J!#@[@3 R0v§*2.4

!©9©3@34. m/02.mM*#.x@3! x©%W*#.Hd6/@f©% 90'L_ ' 46J  @ ©§$*#. §*©§$=6*#W¥HA©,5=.2. 04.![*#.w@3 §O§*4 Ai©%¦ #6

©%N ",5=./01¢©§ /819"46!f4.'s§4.! @6*Y§*19'N#.§*"4o #6 ,5"4q4 @w,a\[/0©9/)/0 0©46v'Nn*#.04b#I ,a/0/"§@3*

,a=W¥ §*©2.46@¢ #.a@3!H©%¤*#.d6/@o©%m:0's'Mv*} #6 19"/0@65 #.i/0§ ! J5J =q%K©2.46@ 'N" #.04q # R ,a/0/"§$@30*_

,5© JcA©4 J§ *" P©% *#.¦A26§ §*4:c46@R=.§*90©26m/02._ 57"4 /0/"1 ¥O #.5/§*!JH 26#iJ =i%K© 2.46@i"4  #./§*!§H§*©§ Z

 #t@3 LF©,5=6§ @Y! "46JN #6¦,a\3",v2., /0/"©'m@Y© .Z

!# _¨k¨*#6'N" #YJ,a/"/+,a\$(*=f !#P§ P!04$

J*/"HJ Pitchers Mounds

=+§ %K>N! ©:©3@346*M/"2.a] S ^ 3J = N +©P #.x,a\30,t2.,

§*N© (A/0P]K! ©:©3@346*¨/02.c©%;T:^  #.©:JF"4$ +A('m4$§* Ec4Y§ /01a0,=6/",4:**"© 4R©%;*#.¦G: = 570/n*§c ",5=./01fA© ,Z

'm0!#: @f/0"46§*/01_ =6§ @t,545/0*"© 46¨¤ @J4:A/0/_ 57"/0@v (*"46!L§ Z

/0@Y*#6P #.P=.=.§*©  #R')F4.©xA©4 J§ *" L4.© 2.!#;¥

G9 §/¤} 1o0@.t#68f!©46 4: § @L©4F=919§,50@3Z

Robust Terrain Assessment— +26 ¤*#.)=.§ © ©(1:=+m§ © §;#6"! #3Z

04 *©5,5}9"4.!$gx¡mG3` E ¡3` ,5© § x§*© .26J_  #6=+@© (A/0_-`)#.N4.\9",5=./0,54: 0©45\:*46@.@ #6

 §#5%K©§)J =Y@3§+§ 46A*©v4919'N#.§ P'Nn*#."4f #.H§*©§ Z

#@i] S3_ t,5 §N@3,5 §>^¤=6#W_1$M2.M*#.0)')¤%K©2646@a*©

Layered Goodness Maps  

§* 2./nN04f*©9©Z A©4 J§ *" F* *J,54:M©%W  8#6"/0/O §46 "Z

`)#.xd6/0@R©%-9"' 46@Y§*4.!H§ J© /"2. 0©4f©%¨S \.S (.PE¦¥ Z  0©4 ¥W4 © 4 /0©' £J=6n#.§{ x,5© 2.46@B¥Y#.0/"/_£N(*§ >*"46!

h

EF r0,a!5§* (26J$ 6§ /"1w/§*!Y4.© 2.!#I ©u!4.§*   4 *"© 4u ©j*#.R ,a/0/"§  ¡7$¤Z  #@u@3 $J 0/0/M=.§* §*

9

#.A/0)*%K(1¡ 491: #6"4.!H*#6¤©46J " 23*¨H#6 #§@t%K©§- #6 ')xY4.@¢*©Y} =i*#.&' 46(*§ 26,4:¤©P=6/"©19,54:(©F90

 ©/§¨=64./¨'N0/"/6J 0/0/6 +c@3A*>*@?_1$m23¤46©'I*#.N§ © §¨4 ] ' ©4©v¥6©§N§*©§m§ ,$^M'm©§*}a©/02.,5H%K§ L©%7© 6J* A/0_

A/00,t l=."*#.§{ ),5©2.46@6N! "4;_

6. DEPLOYMENT RESULTS

m©*# ¢¡¤£  #.A/0i#68w/J @|%<§ 1©4 @  #."§o@3AZ

Tall Thin Obstacles $

 "! 4[/""%KA*",5Y©% @ T¢@.813¤ M ©j%<§¥¨ #[#6v§*2.4w%K©§,5©§*

E */"/ ¥*#.04© 6J*/")'N0/"/64.©¨©32.=91¦4.© 2.!#©%?H!§*0@A/"/

 # 4; T@6819c©4Y #.vJ2.§ %<x©%¨ ¢§N04Y! © /"© !/0/01$@3nZ

 ©j,a}al,546"4.!%K2./¤#64.!*©R*#.$,54u/0*"© 4o

§* ¦§* _Nk¨= §*c@.*A§*" .04.!RG3=."§*"{ P@3§*0L*©'m§*@R #6

 # A/"/ _ $m23"(*"/0/3,t2 (¨ +c8©@3@?_ .F8904.!P%K©2.46@v*#.0

h

©/02.,v .0 .c0/"/  T  ¥PXP=.= © §J*2.4."(1O{ RA\3=./0©§*"© 4e©%t¡4.Z

=.§*© ./0, @32.§*04.!Ld6/0@5*J 04.!6¥  #6HG:*=ad6/" §¤')¤2.=+@6 @

h

@32.§4 A § §t4 @ "*t,t2./" "Z }:0/0©,5A*§L*§ }o ©23*#9'm§*@

 ©F4.©<(26(  #.M,54L/" 0©4L'N" #6"4tFA/0/ ¥ 623;*#.¤,54

 U ¥:! 4.§*/3 §@.©§?mA©4 J@3§*@504R#6©:©:J04.!L +A('m4$ #6

=./026c ©,5x492.,t +§N©%-J*46@.§@f@.90 0©46_

§*"© 265@3§*"904.! ,5©3@3   ¥M46@   13(*,a(Z /0/):0' ©%

 #6c©49 +© §@523*©4.© ,t1  8S @3 § 0 +) #.HJ13J ,l{ ¨=+§ %K©§ Z _

Autonomous Goal Selection ,a46x"4j@3*0/

¢¡M£ #.A/0H§*t4.© ,046/"/01¢A© ,,a46@3@¢ ©')§@jf=6§ Z

A ¥3,5A*§ /"/01$J=+nd @R!© /O"4Y§ © §¤%K§*,a]<_ !6_0¥¦ ¦,5AZ

XP4.)©%  #.N ¢¡M£b ©%&(')§*M@. "! 4t=.§*"4 A0=./"-'m   ©x",5=./0AZ

 §*¨%K©§*'m§*@6^7© §¤ t¥ ¢|A©9© §*@3046 -04$'m©§*/0@v%K§,5¦]K _ ! _"¥

,54:)©4./01a'N#6)')M4.* § 1v%K©§M #.H,50* "© 4 9 #.H,5©§*

SY,5A*§¦4.© §J*#u46@ _!a,5A*§L (t©%M*#.R2.§*§ 4 vG3n*

=6§*, §*Y46@|A© 46@3" 0©46/0¥P #.u,5©§*wA©3@3o .§*46#.

5.§,5Y©§*"! "4+^>_w`)#.§*Y05 ©,5R,© 2.4:©%P2. ©46©,t1u04

'm©2./@l4.@l ©R t (*@?_4.c©'m§¥62.46A§J04:(1R04¢'N#6

@3A@3"46!'N#64Y ©aJ =w]<_ !6_0¥.v§@.0/O ©/0§4 AH"4Y,5A §*  § §04I'm©26/0@I j46A© 2.4: §*@I4.*J"* @I} =6"4.!  #6

§*©2646@i# t¥ ¢ !©:/ ¥W26 ©%M*#.a©49 +© §*@ '( +0 @32.§*04.!

©49 +© §*@ `;§ §04 EP  *J,54 ¢ ©%&(')§*¢ 6\3" ./0V %K© §j"43Z

 26§ 46$"4e=./l ©[@3 § ,504.¢'N#.4b*#.i@3J0§*@ #. @304.!

J*4 A¥M #6 56 .§*26§ 1bSTT" j§* 0©4I©%x ©%&(')§*Y#6aS@:S

#6 P +4 §* #.@ ^>¥? .23¦,5©:(LA© ,,a46@.x§*z:2.0§ v#:26,54

 2.§J%< Al46890! *"© 43Z J=+nd f=6§,5 §_ `)#.5 6\3" .0/0n(1

@3§*" §7 ©¦@3A@3N04$@34 A)'N#.§*) #6c§ © §-4.@.-*©L!© _

=.§*©@$A§*26A/O%K© §NJ26A J%K2./?©=+§*"© 4f© 4Y ¢§*_ 5.©§N\9Z

h

,5=./0¥)04  #.¢© § 0!046/)@. "! 4qJ § ©.FE¦¥ EF 0,5!

¢¡M£ #.0/" /0 © =.§*©90@.y /0",5" @ ,546 ©%b2.Z

'm§*j=.§ ©3*J@ +S ,\=S ,i=."\3/P§ J© /"23*"© 4W_ `)#60f'm 

h

 © 4.©,5© 26)!©:/W /0>*"© 4l26J04.!5*#.t` 0F£FD `FX E £cX :

 2 A04:R%K© §l!©9©3@e§ J26/nR04 © 2.§l"4 @3©9©§R J +@ 499"Z

A© ,5,546@?_ 0F4./"0}u*#.[Ec2. ©4 8 @3§*"904.!q,©3@3j'N#.#

§*©4.,54:_A.c©'m§¥.¡M§  #3Z 6 J@$©2.*@3©9©§)d /@f*J*c 2.!Z

%K©§AP #6H§*©§*©5@.§ 0x§*©2.4 @$© (A/0¥  #.NA© ,,a46@

!(*@$ #6cS \.S x§* ©/023 0©4R§ J26/n*@$04Y J §N§ J26/n

¨*#.c© 23 §¨§*4.!)©%?J §*©L=6§ ©3A  04.!6¥U~¨ P,5A §*_-`)#.0 26 t #.Y#.0/"f ©  2.§*4

toward  #.Y4.§ (© 6J* A/0_

`)#.W=.§*©90@.?N,546?©%3 §*© "46!¤*©'m§*@P ©cN*§*!W 4

*,5$ +#6890©§¦')t© 6 §*@i04w #6f04.n*0/M0,a! x%K§*©,

"%6 #6N§ © §  /0"=6¨/"© 4.!P #.)')81_ .F©'M§¥ #6§*m-4.©H'm81

G9=.0§*n¥H46@  R §* 2./"jG9=6"§*nj')R§ A© 43d6!26§ @q © 26 

 ©j46 2.§ *#6¦*#.¦A© ,,a46@o'N"/0//0©9} "4:*©¢491¢=6§J*0AZ

#.0!#.§N§ J© /"2. 0©4RJ § ©6_

2./§P§ ©3}O¥ /n*#.©2.! #¢$'m@3! L©%1:8'|/"2.c,a81Y v26J@

' 

 ©a©46J §04$*#.L§*¦©%;*§*§*"4f #6)'N0/0/? ¦ §*#.@?_ Spirit Rover: Crater

'N0/"/)J0,5=./01 d 46@u #6R© 4.$4.§*J¦ #.R§ © § ¨nv 2.§*46t ©Z

')§@ §*©3}+¥M4.© §*©3}+_ XP (A/0a§ Y%K© 2.46@ 26 "4.!

G9=.0§*n¤/4 @3@©4 Q:4926§ 1vSTTUH © 23mSH}9"/0©,5 §-'mJ

a the 

A§J04w@.¢A© ,=623 @w@32.§*"4.!l*#.$© 4: +© §*@ *§*8 §  ."/"Z

h h

©%¤ #. ©/02.,v .0 .c0/0/0H046J@3agH26  §*§_*0F4./0"} $XP=.Z

"(1o46/013JV¦ #.$! ©9©[email protected].*L,a=w4 @w4 £J/" 0©4o,a\

=+©§  2.4."(1¥8'N#.#L2./" 0,a /"1P%K©2646@x9@346¨%K©§ 'm § (26(

A© 2.4: ¥x,a=;_7`)#./  §,a=$J ©§*¨ #.c492.,v §©%O*",5

@Y,5A §*L%K§ © , nL/46@304.!j n*¥¨G9=.0§ "¦#6@i ©¢@.§ 05©§

P!04vA/0/9'm W%K© 2.46@¦ ©H#68¤ #.)#.0!#.(-,54¦/0*"© 4

}9"/0©,5 §) +A%K©§*xd646@."4.!$©499"4 A04.!590@.46¦(§  04.!



04l/"/?§*©§JZ  #@a=6*#.m #6FA© 4 04R"_

h

x*#.5 6 v©% #6 © /"26,t .).F"/0/_&.F8904.!f=.§*©,5J@j*©

@3/"0§N©4./013T Tt,5 §)©%7 §8§* ¥  #6L#."/0/cJ,5@R2.43Z

XP§*"! "46/"/01¦4:9 !@t¤x,46-©%WA©,5=+46**"46!P%K© §¤ /"0=

§*#  ./0M7d §*J_ $m23- #.NA© ,t .046 0©4t©% #92.,a4v § §04

'N#.4 =.=.§*©  #.04.!eA§ *"4|§*!A¥x*#.iA© ,5,546@ #6 

* *J,54:M46@5©49 +© §*@546890!  0©46/623*©4.© ,t1v46 ./"@

 4q/0n  /0j26 j©4q ¢¡¤£ ©*#.§5*#64e@326§ 04.!u4.! "46§*04.!

G9=.0§*nN*©§* #f*#.L 6 Jx©%  #.L#6"/0/0c :1RQ2.46tSTTU6_

 (_R`)#.$ ¢¡¤£p=+©  n*"© 4uJ 0,5 0©4w 19J , ]<"46/"2 @3"46!

%F 26/;XH@3© , §*1.^#6 m= §J%K© § ,5@RJ©'m/0/[email protected].§ 04.!v #.x=.§*"Z

G9=.0§*n{ a@3§*0:04.! ! 4qo§ 264[%K©§*#.l#."/0/j]< #.©'N4I04

,a§*1I4 @qA\9 46@3@ ,5  "© 465*#6$"f')(19=./0/01I4.©

 #6)@60/"1t@.§ 0)@3(46 %K©§¨ ©/ @ T8~  Tc"4&57"! 2.§  :^>¥ .23

4.A**§*1x ©L§*/01t©4v #60M=  .0/""(1L%K© §§ Z =+©04: 04.!6_7¡ 4

') %K©/0/"©'m@t 91tF1 §7©% \9=6/"© §* 0©4¦© 4t*#.NJ/0©=+-©%6 #6

'N#.4t"7,50!#:7# 8¤ +4t26 A%K26/ ¥© #.§7©46 @3§*"© 46;@3>Z

h

©/02.,v .0>.c0/"/L]< 457"! 2.§ (^A_1©F§*"904.!t© 4$*#.H /0©=+m/"@

* @f*#6c=6§ AJx=.§*AZ =./4.4.@$,5©*"© 46N +L26 @R"46J @?¥

 ©f4.' J(19/"N©%¤@3§*0:04.! ¥6'N" #i4j,5=.#6 Jc© 4j26J04.! %PnZ

_ !6_0¥3'N#.4lv%K 26§  { m*©=+©/0©!1f'm M46©c§*=.§* 4:* ./0H 

 26/6XH@3© , §*1LJ©%&('m§ ¤ ©x@3A*>46@< 8© §7©,5=+46**¤%K© §

4i© 6J* A/0L ©f #.©49 +© §@j ©%&(')§*¥.*#.t2646A§J04 (1l04

#.0!#uJ/00=W¥;A© ,5,546@3@¢26 5©%M\3=./"A" /01:Z  z:2.46A@¢} =.Z

#.©'e,v26#a 0,5H46@$=+©'m§¤'m©26/0@a +H4.@3@$ ©v©,5=./0A*

©2./#©4.¦*©o8 ©@w}94.©'N4[© (A/0¥¤46@w4.© /m26J©%

 #6@3§*0¦,a@.t=./4.46"4.!R,5©§*v@3 A2./"¥WRA§ *"4j© § 04.Z

 #6¦/"©')Z /0/;@3§*"904.!$A©3@3¦ ©f©,5= 46* ¦%K©§N*,5= © §*§ 1

* 0©4¢')F4.@3@j ©f© =3 0,5#v©,5,t2.460 0©4;¥ © §c #6§*

10 Figure 6. Plot of Spirit’s complete drive history per sol through Sol 588; the most driving in one sol was 124 meters on Sol 125, the longest contiguous autonomous drive was 78 meters on sol 133. Note that the vertical scale here is stretched compared to Figure 9. Red indicates blind driving, green indicates autonav (rows 5–8 in Table 2), blue indicates Visodom (rows 2, 4 in Table 2).

Figure 7. Plot of Spirit complete tilt history through Sol 588.

=.§*© ./0,a¢]<_ !6_0¥cu§ ©3} (*26}I04 w'N#./ ¥c@3§*!! "4.!o©46 /^>¥9 4),t ."*)=+§)=."\9/ 'm§*F046 2 A04:) ©§ J© /" N #6

h

'N#./.*©¦A\9*46@$@.§ 0c,5© ©§¤/""%KA*",5^A_`)#.F 26*©%O"*  ©0/¨"4 STR@3!§*&57X-% .FE¦¥ EF ",a!_v`)#60x,54:

,50* "© 4j©'MN,t26#l*©a #6¦§ © .26J 4. P46@Y A\3" 6"/0n(1Y4.©  # F*#.v23 © 4.©,v1R 13(*,l¥6*J @¢/0,5© Jc4: 0§ /"1Y26 "46!

h

©46/"1w©%N #.l©49 +© §*@u,5© 6"/0n(1[ ©%&(')§*¥- .2.a/0 ©i©%c #6 §*"! 0@3/01:Z ,5© 2.4: @ .PE¦¥ EP ¢¥¨# @o © f§ A©4.d6!2.§*@ *©

h

#92.,a4u!§*©2646@¢© = §* 0©46H*, 'N#.©j}=3¦A§**"46!Y46' 26 j= © "4: ./0j,aJJZ ,© 2.4: @ DPE % EP ¢_ 5.© §J*2.46 /01¥

4 @f +A  §F'm813m ©a@3§*0L)\9=6/0"4.@f04 T  _ 'ma'M§ a 6/"a +©*#u ©j§*A© 43d6! 2.§ v #6$,5© .0/""(1  ©%&(')§*

 ©  #6 l©46@.n*"© 46546@b/J© 2.=./0"4.}I4.'L¥,5© § R 6A\30 ./0

 ©%&(')§*_-`  ./"  #.©'cmJ© ,5F©%; #.x@3§+§ 46AM +A('m4

Opportunity Rover: 

 #6a#60/"F*#6¦=+§ 0J¦A§*© *P #.a,5  0©4W¥;46@ © #6§

 # F#64.!x@.0/01f'N#.4f*#.x § §04R§*z:2.0§*_

XP=.=+©§  2.46n(1 /4 @3@ ©4 SUqQ 4:2 §*1eSTTUI046J@3[¡M!/0

h

§ §¢¢ j§ @34.tk¤/0492.,l_ G.A04: (j'm§* *#.§*"/0/"@

Ec/" #6©2.! #u #.$§*©§*{W@3J0!4u§*z:2.0§ ,4:*L#6 @o 4w%K© §

'N#.4R*#.xd6§(c0,a! )§*/0@f @3§ ©3}$© 23*§ © =6N5,5§*

 §8§* PN 0/nN/0*m #64 @3! § x]< x*#.L/0§ ! H@60/"1

@5,5A*§m%K§ © ,  #6¦§ © §¥ 623F46!04.§*)'m§*x#.©§*§ "d6@$*©

@3§*"  @3J*4 AR04 57"! 2.§ @ ^A¥xXP=.=+©§  2.46n(1e = 4 l,5©§*

 l§ 1w/0n  /0 © 043%K©§*,a*"© 4b§*©§*@w%K§ © ,  #.Yd6§J



 # 4i n\j,5©4:*#6c04 ¡¤46@32.§46tA§*§c'N" #i 0/n 

J §*©50,a!_ above

@3!§*¥cRJ#6©'N4 "4 5 0!26§  T._ G: §*!0$ #6R'm§*

@.©=3*@f%K©§N#.0!#Y 0/"F@3§ 09"46!54Y x%K© 2.46@Y04  U ¥2  _

57/"\3" .0/0n(1l©%¤ ©%&(')§*t@3J0!4j')F 4¢,5©§*t§ " /;%K© §

XP=.=+©§  2.46n(1 _ `)#.¨d 4.AZ !§04.@H=6§J*0/"WA© §*"46!M*#.¤,aZ (©§*"(1f©%¨¡¤!/0LA§ §N'M§ x2.46§ J© /" 6/"L 91RJ § ©5",a! 

 Software Versions

`)#.§ # 8 +4¦ #6§ §* "© 46?©%3 #.m,5© .0/""(1H 60!#:  ©%&JZ =.§*©3A* "4.!l©%M*#.;AZ ."JZ = §JZ =."\9/A© ,=6§   @?T:SU\=T SU

h

')§*P26 @Y© 4Y ¢§*N )©%XH> © §FST T 3_ U" @3!§* 57X-% DPE % EP 0,a!_ 5.© §J*2.46*/01¥50,vZ

! m'N" #Y,© § H ."*)=+§N=."\3/?'m§*H z:2.0§ @fz:2.}9/"1$46@

`)#.N §J0©4v26J@5@32.§*"4.!H*#.)d6§(6@ TP@.813-©%+© = §* 0©4t© 4 =.§*©@w J1u*©o=6§ ©3A _?$m23$*#.l4.©,5046/c !#Y26J@

 #L§ © §]K #.mk§*",a§*1P ¢0*J0©4+^O#6@L23 © 4.©,v1H ©%&(')§* 91b© 49 ©:§@e23*©4.© ,t1b ©%&(')§*[] S \.S u*z 2 §*@ =."\:Z

11 Figure 8. Image of Spirit’s tracks following an obstacle avoidance maneuver on Sol 107.

Parameter Spirit Opportunity

Autonav camera pair HAZCAM (front or rear)

Stereo processing resolution 256 256 256 256

Useful (unmasked) image size 184 256 (front) 108 216 (rear) 256 256 ¡

Stereo search range 0.3 - 5.0 ¡ 1.2 - 10.0

¢ ¢

¡

Grid cell resolution 0.2 0.2 ¡ 0.2 0.2

¢ ¢

¡ Grid size 10 10 ¡ 12 12

As needed for daily operations ¡ Max distance between image acquisitions 0.5 – 1.5 ¡ 0.5 – 2 Engineering diagnostic verbosity 0 – 4 0 – 4 Max allowed Visodom failures 0 – 15 0 – 20 Number of Point Turns to enable 0 – 46 0 – 46

Table 3. Some parameter differences between Spirit and Opportunity

 # t')L© §*/"1oA© 46J§  0_)' v§*z:2.0§ @  #6t",a!04.! ,a@3t ©f #.v/"©')Z /"/W,5© .0/""(1jJ©%&('m§ vJ046ASTT:S3Vm26 

4 @w § §04[=.§*©3A  "46!¢©3A26§5%& §#I23 © 4.©,5© 26J/01:Z ©%)/0©:© }:Z 2.= * ./0H ©j! 4.§*/"!#v #6$(*§*04.!j4.! /"x26J@

A© ,5,546@3@f,5©*"© 4W¥646@R/0 ©a#.} @$%K©§cJ =l© 6(/" 91I=.§*0," 0¢©,5,a46@6¥m26 ¢©%x/"©9© } Z 2.=b* ./"5 ©w(*nZ

 §*19'N#.§*'N" #.04t#¦§*©§JZ J!#@x@30*H] S3_ , @3,5 §>^>_ ,a*tJ/00=Y  @Y©4j§*©§)J*n*26@3¥O4 @f*#.t ."/0"(1$ ©R/"Z

' 4q=.§>*0l #.a,54:a #6$ #.j§*©§*'m§*l2.46 6/"l*©  § 4  ¤ ('M4¦'N#./9@3§!! "46!c46@x4.© 43Z @3§*!! "4.!),5©3@3

2. ©46©,5©26 /01IA/0",v q©§$ ,a/0/ £J=6n#.§{ 5,5© 2.46@B¥Z /0"}  04u #.$4 v©%cj@3  ./"@w@3§*" a,© © §_ $mA%K©§*5 #60t§ Z

#.0/"/¤ 3 #.N©32.§*§ @f §*/+ 0,N©4jG9=.0§*n_ /0 ¥:§*©§M@3§ 0§*¤#6@$ ©vA\3=./00n*/"1$©,5,a46@a#fJ =

©%. %P0 ©3@3©,Z 46 ./0@x@3§*" - ©c46J26§ -*#6W*#.§*'m©2./@x +

' 4fEF=.§ 0/WST TU6¥:¦4.'e§* "© 4a©%; ©%&(')§*c')26=./"04.} @5*©  2 A04:N©§*/=$ +A('m4f0,5!H]<4.©,5046/0/013T¤£v^A_1$M2.

+© # § © §¥6"4." *"46!$ #6¡\:*46@.@¢ j*J0©4W_H`)#.F § Z 4.©'y #.fgH© ©;u81:=+©04:¦A©,5,a4 @ ©2./@o $©43d6! 2.§*@

 "© 4L"46©§*= © §* @H  §/§*© 626(*4.*?4.#64 A,54 W,a@.  ©5§*J §*0Am23 © 4.©,5©2 J/01:Z ©,5,a46@3@a,5©*"© 46M ©546 2.§*

 ©b #6u23 © 4.©,v1eJ©%&('m§ [email protected].§ 04.! =.§*AZ /046@304.!I© 23*@3©9© §  2 A04:¤©§ /=;¥*J2.,504.!x #6FA 26/.#. @304.!¦#646!)0

d6/0@¢ J*H4 @¢J© ,5t/0*J© 46c/0§ 4.@¢@32.§*04.!$*#.t=.§*0,5§ 1 4.©5/§*!§m*#64l'N#6)')N©,5,a46@.@?_

,50* "© 4W_L`)#.v,5©:(x@3§*,a t# 4.! c046/"26@.@j*#.a .0/"Z

"(1u ©  }9"=b`;§ §04IEF* *J,54:'N#.4w*#.YA\30J 04.!u@. E %K©26§J*#b2.=6!§@3 ¥¤=./4.46@I%K©§a,50@3Z STT 6¥,5"! #:5046©§ Z

/0§*@.1w46 2.§*R*#6$/"/N=6 #6f§*Y*%K ¥M4 @I*#.j .0/0n(1 =+©§ vJ§/O*#.46©/0©!0c4.©' "4.!f/026*@?_c`)#6 

 ©j23 © 4.©,5©2 J/01l §8§* v ,a/0/#.0/"/_a`)#.x4  ./0@  #6 046A/026@3)23*©4.© ,5©26;"4J" 2¦046J §*2.,54:-=./0 A,4:;%K©/0/0©')Z

,t2 #R/0©4.! §c@3§*0) [email protected].§ 04.!a ©/ @ T8~  Tt"4;570!2.§*¤._ 04.!jR 26*(%K26/@3§ 0l]<}YgH©j4 @i` ©26# ^A¥W!/0© /-=6*#

=./4.46"4.!x*©L46 ./0m04: /"/0"! 4: 6 } *§* }9"4.! ¥90 26/. §*©Z

`)#.46A\9  ©%&(')§*¨2.=.!§@.¨'m ?,a@304(5. .§*26§*1HSTT ¤*© 04.!6¥946@a23 © 4.©,5© 26@3 A 0©4$©%W@326Jm@3:0/¤4 @$A/0©26@6

#./"=$J §*,/004.FA© ,5,546@304.!¦4 @a@.¦46/"13 0¥0,5=.§ ©  04 © 49 ©:§@[0,5!§ 1 _eXF*#.§a=./464.@ 46#646,54:5"43Z

=+©  n*"© 4jJ 0,5 0©4l04¢#.0!#./01R /"© = @Y § §04W¥ 46@Y46 ./0 A/026@3L\3=./"A"N}=+©23 #© 4.¥. = @Y©=3*",5!# 0©46m*©/%PnZ

` §*§*"4wEF* *J,54:¦26 04.!j,5©§*5 #64w©4./01¢('m©¢DF8:,  ©9@.©, 46@eEF23 © 468O¥)46@e4.' A©,5,a4 @.$04: 4 @3@ *©

0,5!_ `)#.Y2.=.!§@.i/J©b"4 A/026@3@  #6id6§JY#64.! §*@326H #.¦©,5=./0A\3n(1f©%¨A©,5,a4 @3@YJz:2.46_

12

7. CONCLUSION REFERENCES

`)#.i i¡¤£ j© .0/""(1qG3©%&(')§*j#6f46 ./"@e4e2.46=.§ AZ

@34 *@o,5©264 L©%m@3§*"904.!lA§*© *F #.a 2.§J%< A©%)4.© #.§ [1] Khaled S. Ali, C Anthony Vanelli, Jeffery J. Biesi-

'm©§*/0@?_-`)#.F 6A\30 ."/0"(1v©%WnM@3J0!4a46 6/"@anM ©t%K2.46>*"© 4 adecki, Mark W. Maimone, Yang Cheng, Miguel San

§OA 0/"1$04Y('M©a@3§,a /0/01$@3 §O§*4:N*§*§*"46_  Martin, and James W. Alexander. Attitude and posi- tion esimation on the Mars Exploration Rovers. In IEEE Conference on Systems, Man and Cybernetics, The Big 8. ACKNOWLEDGEMENTS

Island, Hawaii, USA, October 2005.

`)#.¦§* §*#j@3 § 0 +@l04l #.F= =+§F')F§*§*"@R© 23P

h

¡; © §* ©§*1¥ /""%K©§*4.' 46J " 23*u©%

 #6oQ Ajk§*©=.26/0 "© 4 [2] P. Bellutta, R. Manduchi, L. Matthies, K. Owens, and  #.jDF 0©46/cEc§ ©Z

` #.4.© /"© !1 ¥2.46@3§$uA©4:*§* >a'Nn*# A. Rankin. Terrain perception for demo iii. In Proc. `)#.© 26 46@.t©%c=+©Z

4623 46@bG9=6REP@3,5"4.J § 0©4;_ Intelligent Vehicles Symposium, Dearborn, MI, October

6¡ 46@f #.§*©26!#.© 23

=./0x'M§ P"49© /" @a04R #.x,50* "© 4RcQ:k 2000.

/o

 #6'm©§*/@?¥?"4u! ©§*4.,54:¥O  @3,5.¥W4 @i046@326J §*1_ [3] Jeffrey Biesiadecki, Mark Maimone, and Jack Mor- }94.©'N/0@3! i*#.0§i© 23*J*46@304.!q'M© § }O¥x'N#.# !§*A%K2./0/01 rison. The Athena SDM rover: A testbed for

4  ./0@o26¦ ©jA\3=./0©§*a ¢§x*#.§ © 2.!#wG9=.0§*nv46@[XP=.=+©§ Z mobility. In International Symposium

& 5'm©2./@i/00}v ©Y #64.}j*#.a4: 0§* ¢§*x¡\9=6/"©Z  264.n(1 _ on Artificial Intelligence, Robotics, and Automa-

§ 0©4Y£N©§¤*,Y¥ 46@f"4l=6§J*02./0§m #.x,5© .0/0n(1$'m©§*}:Z tion for Space (i-SAIRAS), Montreal, Canada, June

-$m/0/"2.J*6¥©F4 

04.!F! § © 2.=t4 @L (7 ,l¥046A/026@304.!xk¨©/0© 2001. http://robotics.jpl.nasa.gov/people/mwm/sdm-

H§*26¥OQ  §5689§ J*©6¥ ©P89@+.c4.§ z:2. # ¥+£c© +§ 4¡W0 +§JZ

© mobility/.

h

6 #W¥¨©P89@ ¡W© }9 #.04W¥ §*©/0"46t ¢/@3©4 @3© ¥:£N#Rk- §¥

¥=.c264.!3%¨© ¥+£N}  /0#;¥+46@

EF§ © 4iG90,© ¥+¡M@.@30v` 2.46J / [4] Jeffrey J. Biesiadecki, Eric T. Baumgartner, Robert G.

/e0/0/0 ©4W_ £N! Bonitz, Brian K. Cooper, Frank R. Hartman, P. Christo- pher Leger, Mark W. Maimone, Scott A. Maxwell, Ashitey Trebi-Ollenu, Edward W. Tunstel, and John R. Wright. Mars Exploration Rover surface operations: Jeffrey Biesiadecki has been a soft- Driving opportunity at meridiani planum. In IEEE Con- ware engineer at NASA’s Jet Propulsion ference on Systems, Man and Cybernetics, The Big Is- Laboratory since 1993, after completing land, Hawaii, USA, October 2005. his Master’s degree in Computer Science [5] Jeffrey J. Biesiadecki, Chris Leger, and Mark W. Mai- at the University of Illinois, Urbana- mone. Tradeoffs between directed and autonomous Champaign. He designed and imple- driving on the mars exploration rovers. In International mented the core motor control and non- Symposium of Robotics Research, San Francisco, CA, autonomous mobility flight software for USA, October 2005. the Mars Exploration Rovers, and is also one of the rover drivers for the Mars Exploration Rover ”Opportunity”, re- [6] Yang Cheng, Mark Maimone, and Larry Matthies. Vi- sponsible for command sequences that tell the rover where to sual odometry on the Mars Exploration Rovers. In IEEE drive and how to operate its robotic arm on the surface of Conference on Systems, Man and Cybernetics, The Big Mars. Island, Hawaii, USA, October 2005. [7] Donald B. Gennery. Calibration and Orientation of Cameras in Computer Vision, chapter Least-Squares Dr. Mark Maimone is a Navigation Camera Calibration Including Lens Distortion and Au- and Machine Vision researcher at the tomatic Editing of Calibration Points, pages 123–136. Jet Propulsion Laboratory. He earned Springer Verlag (A. Gruen and T. Huang, ed.), 2001. his Ph.D. in Computer Science from [8] Steven B. Goldberg, Mark W. Maimone, and the Computer Science Department of Larry Matthies. Stereo vision and rover nav- Carnegie Mellon University in 1996, igation software for planetary exploration. In and was then a Post-doctoral Research IEEE Aerospace Conference, volume 5, pages Associate at Carnegie Mellon’s Robotics 2025–2036, Big Sky, Montana, USA, March 2002. Institute. Since starting at JPL in 1997, he has worked on http://robotics.jpl.nasa.gov/people/mwm/visnavsw/. the several Mars Rover research projects and a vision system [9] M. Golombek and D. Rapp. Size-frequency distribu- for inspection of the Chornobyl reactor. As a member of the tions of rocks on Mars and Earth analog sites: Implica- 2003 Mars Exploration Rover flight software team, Mark de- tions for future landed missions. Journal of Geophys- veloped the vision and navigation subsystems for the MER ve- ical Research - Planets, 102(E2):4117–4129, February hicles. Mark is now part of the MER ground operations team 1997. and is developing the autonomous navigation software for the rover, NASA’s next Mars rover mis- [10] Chris Leger, Ashitey Trebi-Ollenu, John Wright, Scott sion. Maxwell, Bob Bonitz, Jeff Biesiadecki, Frank Hartman,

13 Figure 9. Plot of Opportunity’s complete drive history per sol through Sol 567; the most driving in one sol was 219 meters on Sol 410, the longest contiguous autonomous drive was 280 meters during sols 383–385. Note that the vertical scale here is more compressed than that in Figure 6. Red indicates blind driving, green indicates autonav (rows 5–8 in Table 2), blue indicates Visodom (rows 2, 4 in Table 2).

Figure 10. Plot of Opportunity’s complete tilt history through Sol 567.

Brian Cooper, Eric Baumgartner, and Mark Maimone. Report. Springer-Verlag, 1996. Mars Exploration Rover surface operations: Driving [15] L. Matthies, Y. Xiong, R. Hogg, D. Zhu, A. Rankin, spirit at gusev crater. In IEEE Conference on Systems, B. Kennedy, M. Hebert, R. Maclachlan, C. Won, Man and Cybernetics, The Big Island, Hawaii, USA, T. Frost, G. Sukhatme, M. McHenry, and S. Gold- October 2005. berg. A portable, autonomous urban reconnais- [11] M. Maimone, L. Matthies, J. Osborn, E. Rollins, J. Teza, sance robot. In Intelligent Autonomous Systems, and S. Thayer. A photo-realistic 3-D mapping system Venice, Italy, July 2000. http://robotics.jpl.nasa.gov/ for extreme nuclear environments: Chornobyl. In tasks/tmr/papers/UrbanRobotPaper0700.pdf. International Robotics and Systems Conference (IROS), [16] L. H. Matthies. Stereo vision for planetary rovers: pages 1521–1527, Victora B.C., Canada, October 1998. http://robotics.jpl.nasa.gov/people/mwm/pioneer/iros98/. stochastic modeling to near real-time implementation. International Journal of Computer Vision, 8(1):71–91, [12] Mark Maimone, Jeffrey Biesiadecki, Edward Tunstel, July 1992. Yang Cheng, and Chris Leger. Surface navigation and [17] A. Mishkin, J. Morrison, T. Nguyen, H. Stone, mobility intelligence on the Mars Exploration Rovers, B. Cooper, and B. Wilcox. Experiences with operations chapter 3, pages 45–69. TSI Press, Albuquerque, NM, USA, 2006. http://www.intelligentspacerobotics.com/. and autonomy of the mars pathfinder microrover. In Proceedings of the 1998 IEEE Aerospace Con- [13] L. Matthies, E. Gat, R. Harrison, B. Wilcox, R. Volpe, ference, Snowmass at Aspen, Colorado, March 1998. and T. Litwin. Mars microrover navigation: Per- http://robotics.jpl.nasa.gov/people/mishkin/papers/IEEE formance evaluation and enhancement. Autonomous aerospace98.pdf. Robots Journal, Special Issue on Autonomous Vehicle for Planetary Exploration, 2(4), 1995. [18] A. Rankin, C. Bergh, S. Goldberg, and L. Matthies. Pas- sive perception system for day/night autonomous off- [14] L. Matthies, A. Kelly, T. Litwin, and G. Tharp. Obstacle road navigation. In SPIE UGV Symposium, Orlando, Detection for Unmanned Ground Vehicles: A Progress FL, April 2005.

14 [19] Glenn E. Reeves and Joseph F. Snyder. An overview of the Mars Exploration Rovers flight software. In IEEE Conference on Systems, Man and Cybernetics, The Big Island, Hawaii, USA, October 2005. [20] Reid Simmons, Lars Henriksen, Lonnie Chrisman, and Greg Whelan. Obstacle avoidance and safeguarding for a . In AIAA Forum on Advanced Develop- ments in Space robotics, Madison, WI, August 1996. http://www.cs.cmu.edu/˜reids/papers/AIAAobsAvoid.pdf. [21] Sanjiv Singh, Kurt Schwehr, Reid Simmons, Trey Smith, Anthony Stentz, , and Alex Yahja. Recent progress in local and global traversability for planetary rovers. In Interna- tional Conference on Robotics and Automation, 2000. http://www.frc.ri.cmu.edu/projects/mars/ publi- cations/global local icra2000.ps.gz. [22] Richard Volpe. Navigation results from field tests of the Rocky 7 Mars rover prototype. Interna- tional Journal of Robotics Research, 18(7):669–683, Special Issue on Field and Service Robots, July 1999. http://robotics.jpl.nasa.gov/people/volpe/papers/JnavMay.pdf. [23] Richard Volpe. Rover functional autonomy develop- ment for the Mars mobile science laboratory. In IEEE Aerospace Conference, Big Sky, Montana, March 2003. [24] David Wettergreen, Deepak Bapna, Mark Maimone, and Geb Thomas. Developing nomad for robotic exploration of the atacama desert. Robotics and Au- tonomous Systems, 26(2–3):127–148, February 1999. http://robotics.jpl.nasa.gov/people/mwm/papers/98ras.nomad.pdf. [25] Yalin Xiong and Larry Matthies. Error analysis of a real-time stereo system. In Computer Vision and Pattern Recognition, pages 1087–1093, 1997. http://www.cs.cmu.edu/˜yx/ papers/StereoError97.pdf.

15