Command Generation for Planetary Rovers Using Virtual Reality

A system architecture is proposed for command generation of planetary rovers through the specification of high-level goals in virtual reality (VR). Through the use of an integrated planning and scheduling system, connected with a highfidelity simulation model of the rover and its environment, a contingent command sequence could be determined from a set of specified xience goals (with g iven t ask priorities, constraints, pre-requisites, etc . . .). As part of NASA's Advanced Technology Program, this paper describes the work in progress towards enabling such a system and the demonstration of the current status for the Marsokhod '99 Field Experiment in the Mojave Dessert.