OPPORTUNISTIC DETECTION AND MEASUREMENT OF NOVEL ROCKS

The Onboard Autonomous Science Investigation System (OASIS) evaluates geologic data gathered by a planetary rover [1]. This analysis is used to identify new science opportunities during a rover traverse. A planning and scheduling component enables new science measurements to be safely added to the rover current command sequence. Recent tests have highlighted the identification of novel terrain features during a rover traverse. This capability has been recently added to the OASIS system and has been successfully demonstrated using the FIDO rover at NASA’s Jet Propulsion laboratory. In addition, the system has been integrated with the MER rover mission Visual Target Tracking (VTT) capability, which enables the system to robustly track a specified target while the rover drives. By integrating this capability, the rover can be commanded to approach targets identified onboard and acquire targeted measurements both from additional viewing angles as well as from positions in close proximity to the target.