show the field of view of the high-resolution follow-
up image collected by the mast-mounted camera
(right column). Each follow-up image is accompanied
by a 3 x 3 raster of spectra. Even when the target selec-
tion was successful, we did not notice a significant dif-
ference between the on- and off-target spectra. This
may be attributed to low signal to noise. Alternative-
ly, these features may have spectral signatures that
were very similar to the background substrate.
We deployed the adaptive navigation system suc-
cessfully in two instances during the 2013 field cam-
paign. Near the end of the field season the rover vis-
Adaptive, constrained Adaptive Random path
Figure 8. Adaptive Path-Planning Performance, in Simulation.
Sol Action SR Target Found Target Valid? Pointing Accurate? Notes
12 TC30 122 Rocks OK OK
TC31b 125 Foreground rock OK OK
TC32 128 Rock pile, sediment OK OK
13 AT-13-09 172 Disturbed rocks and sediment OK OK
PP22 166 Distant rock patch OK BAD 1
PP23 160 Distant rock patch OK OK
PP24 154 Foreground rocks OK OK
PP25 148 Foreground rocks OK OK
TC34 158 Foreground sediment patch / rocks OK OK
TC34-recon 132 None OK n/a 2
TC41 170 Rocks OK BAD 3
TC42 164 Distant rock patch OK BAD 4
14 AT- 13-10 190 Car BAD BAD 5
PP19 216 Foreground Rock OK OK
TC40 183 Rock patch OK OK
Table 1. Target Detection Results from Playa Exploration Phase.
1: Aims too high for distant targets. 2: No target in scene. 3: Targeted feature not the largest rock. 4: Very distant feature. 5: Cars in frame.