ited a playa — a dry lakebed approximately 2 kilo-
meters in length that was spectrally distinctive from
the surrounding terrain (figure 10). Figure 11 shows
a typical round of adaptive path planning near the
playa edge. Here the playa is visible as a bright area in
the lower right of the overhead satellite image. The
large pixels represent 15-meter ASTER data. Here
Zoë’s planned path, in blue, diverts to sample the
spectrally distinctive playa surface. The path
changed only slightly in subsequent replanning as
the rover visited each waypoint and incorporated the
new spectra into its solution.
Figure 9. Examples of Targets Detected in Midtraverse, and Associated Followup Images.
Sediment / Rock
Figure 10. A Composite of Rover Images Showing the Playa Where Adaptive Navigation Was Evaluated.