Original image Detected targets Followup image
Figure 11. Demonstration of Adaptive Path Planning.
While the on-board planning gave an intuitive
and reasonable answer, the actual rover paths were
not as expected due to misregistration between
orbital data products and the rover’s on-board GPS
estimate. Postanalysis of the data revealed the real
position was offset by more than 100 meters from the
intended location, so the actual rover path spent
most of its time on the playa. In the future we will
directly address these registration errors with the use
of explicit ground control points (GCPs).
This work demonstrates novel techniques integrating
adaptive autonomous science activities with pre-
planned data collection. Zoë’s system will continue
to mature in the coming year.