{"project":{"acronym":"","projectId":16553,"title":"Resource-Aware Planning for Shadowed and Uncertain Domains","primaryTaxonomyNodes":[{"taxonomyNodeId":10791,"taxonomyRootId":8816,"parentNodeId":10787,"level":3,"code":"TX10.2.4","title":"Execution and Control","definition":"Execution and control technologies change the system state to meet mission goals and objectives, according to a plan or schedule, subject to control authority and permission, and based on mission phase, environment or system state.","exampleTechnologies":"Reactive control (e.g. aircraft see-and-avoid, rover hazard avoidance, fault response), discrete control / scripting / mode control, contingent control (e.g. integration of fault management and planning/scheduling), subsystem procedure and automation control and situational awareness for human operator","hasChildren":false,"hasInteriorContent":true}],"startTrl":2,"currentTrl":3,"endTrl":3,"benefits":"NASA's Technology Roadmap TA04, Robotics, Telerobotics and Autonomous Systems, identifies autonomous navigation as one of three impact areas for technology development. The proposed work enhances development of autonomous navigation by building on the successes of the Mars Science Laboratory and other rovers' use of locally acquired data to refine and potentially modify Earth-generated plans without human intervention or approval. By adjusting relative parameters in the planning model, Earth-based controllers can set the bounds on local authority, response, and operational capabilities while maximizing operational advantages of locally-centered decision making. Phase II results will advance technologies to TRL 5, ready for assimilation into NASA missions. Existing NASA collaborations will drive infusion of the developed technologies into future missions. Technical Advisor William \"Red\" Whittaker collaborates deeply with NASA's autonomy experts. Astrobotic intends to produce lunar and planetary rovers encompassing these technologies as build-to-order rovers or as technology licenses. Active Astrobotic contracts with NASA are defining rover missions to carry the RESOLVE payload, excavate on the Moon, and provide data from a lunar mission. Relationships curated through these contracts provide additional paths for technology infusion, and results will be promoted through all NASA partnerships and collaborations.
Resource-aware planning provides significant advances over state-of-art autonomous navigation, mapping, and localization for terrestrial applications. The need for low cost, computationally inexpensive, and easy to integrate autonomous navigation and mapping applies broadly to terrestrial applications particularly those that are GPS-denied. Potential applications include driverless cars, search and rescue, mining, military UGVs and UAVs, and agriculture. Vision-guided UAVs offer a particularly good fit for resource-constrained planning. As small UAVs become more common for surveillance and scouting, the need to reduce operator load will become paramount. With a wide array of sensor suites producing dense data sets, enabling vehicles to make decisions on-board within operator-defined bounds allows an operator to concentrate on high-level mission objectives rather than low-level vehicle operations. The proposed work is particularly suited to terrestrial applications where only low-fidelity data is available for initial planning; by creating a provisional plan to be optimized by future high-fidelity measurements, the overall mission objective can be completed with an minimum of waste. The result is an optimized use of limited resources, including overhead time and ground-based manpower.","description":"Discovery of frozen volatiles at the lunar poles is transformative to space exploration. In-situ resources will provide fuel to support far-reaching exploration and enable commercial endeavors. While satellite data supports presence of polar ice, driving and drilling must confirm presence, determine composition, and measure distribution. Ice exists primarily in the dark and cold of polar craters. Current planetary rover planning technologies are not designed for these environments and have avoided them altogether, operating only in mid-latitudes. The proposed research innovates an Earth-based, resource-aware path planner for a polar prospecting rover. The proposed planner models progress toward the goal while considering resource costs inherent in that progress, generates and explores the space of possible paths, then transmits a set of low-cost viable paths to goal to the rover. The set of viable paths then resides on the rover to inform limited re-planning if the rover encounters a hazard during traverse, even during communications dropout. The planner considers all of the impacts on polar rover operation – light angles that change over time, thermal operating window, sun angles and blinding light, and communications-shadowed regions. Each of these impacts affects one of the rover's resources – where it can go, what it can see, how cold it can get, how much battery charge remains, and whether it can communicate with its operator. Design of the proposed planner will build on pioneering research at Carnegie Mellon that developed TEMPEST, a temporal-aware, mission-based planner that maximized battery power over a traverse. It was demonstrated using the Hyperion rover, achieving a sun-synchronous traverse of Haughton Crater. The polar environment is both adversarial and unpredictable, and the proposed planner will extend the TEMPEST to account for the unique challenges of navigating on the poles of planetary bodies and add nondeterministic planning.","startYear":2013,"startMonth":5,"endYear":2013,"endMonth":11,"statusDescription":"Completed","principalInvestigators":[{"contactId":273987,"canUserEdit":false,"firstName":"Kevin","lastName":"Peterson","fullName":"Kevin Peterson","fullNameInverted":"Peterson, Kevin","primaryEmail":"Kevin.Peterson@astrobotictech.com","publicEmail":true,"nacontact":false}],"programDirectors":[{"contactId":206378,"canUserEdit":false,"firstName":"Jason","lastName":"Kessler","fullName":"Jason L Kessler","fullNameInverted":"Kessler, Jason L","middleInitial":"L","primaryEmail":"jason.l.kessler@nasa.gov","publicEmail":true,"nacontact":false}],"programExecutives":[{"contactId":215154,"canUserEdit":false,"firstName":"Jennifer","lastName":"Gustetic","fullName":"Jennifer L Gustetic","fullNameInverted":"Gustetic, Jennifer L","middleInitial":"L","primaryEmail":"jennifer.l.gustetic@nasa.gov","publicEmail":true,"nacontact":false}],"programManagers":[{"contactId":62051,"canUserEdit":false,"firstName":"Carlos","lastName":"Torrez","fullName":"Carlos Torrez","fullNameInverted":"Torrez, Carlos","primaryEmail":"carlos.torrez@nasa.gov","publicEmail":true,"nacontact":false}],"projectManagers":[{"contactId":498856,"canUserEdit":false,"firstName":"Xavier","lastName":"Bouyssounouse","fullName":"Xavier Bouyssounouse","fullNameInverted":"Bouyssounouse, Xavier","primaryEmail":"xavier.bouyssounouse@nasa.gov","publicEmail":true,"nacontact":false},{"contactId":461333,"canUserEdit":false,"firstName":"Theresa","lastName":"Stanley","fullName":"Theresa M Stanley","fullNameInverted":"Stanley, Theresa M","middleInitial":"M","primaryEmail":"theresa.m.stanley@nasa.gov","publicEmail":true,"nacontact":false}],"website":"","libraryItems":[{"caption":"Resource-Aware Planning for Shadowed and Uncertain Domains","file":{"fileExtension":"png","fileId":304295,"fileName":"SBIR_2012_1_BC_H6.03-9076","fileSize":190350,"objectId":300847,"objectType":{"lkuCodeId":889,"code":"LIBRARY_ITEMS","description":"Library Items","lkuCodeTypeId":182,"lkuCodeType":{"codeType":"OBJECT_TYPE","description":"Object Type"}},"objectTypeId":889,"fileSizeString":"185.9 KB"},"files":[{"fileExtension":"png","fileId":304295,"fileName":"SBIR_2012_1_BC_H6.03-9076","fileSize":190350,"objectId":300847,"objectType":{"lkuCodeId":889,"code":"LIBRARY_ITEMS","description":"Library Items","lkuCodeTypeId":182,"lkuCodeType":{"codeType":"OBJECT_TYPE","description":"Object Type"}},"objectTypeId":889,"fileSizeString":"185.9 KB"}],"id":300847,"title":"Project Image","description":"Resource-Aware Planning for Shadowed and Uncertain Domains","libraryItemTypeId":1095,"projectId":16553,"primary":true,"publishedDateString":"","contentType":{"lkuCodeId":1095,"code":"IMAGE","description":"Image","lkuCodeTypeId":341,"lkuCodeType":{"codeType":"LIBRARY_ITEM_TYPE","description":"Library Item Type"}}}],"transitions":[{"transitionId":68914,"projectId":16553,"transitionDate":"2013-11-01","path":"Closed Out","closeoutDocuments":[{"title":"Final Summary Chart","file":{"fileExtension":"pdf","fileId":307737,"fileName":"224587_11_23_2013_17_23_35","fileSize":1022558,"objectId":68914,"objectType":{"lkuCodeId":1841,"code":"TRANSITION_FILES","description":"Transition Files","lkuCodeTypeId":182,"lkuCodeType":{"codeType":"OBJECT_TYPE","description":"Object Type"}},"fileSizeString":"998.6 KB"},"transitionId":68914,"fileId":307737}],"infoText":"Closed out","infoTextExtra":"","dateText":"November 2013"},{"transitionId":68915,"projectId":16553,"partner":"Other","transitionDate":"2014-08-01","path":"Advanced To","relatedProjectId":18037,"relatedProject":{"acronym":"","projectId":18037,"title":"Planning for Planetary Science Mission Including Resource Prospecting","startTrl":3,"currentTrl":5,"endTrl":5,"benefits":"The proposed innovations in planning can drive dramatic improvements in mission planning and operator awareness efficiency to enable highest-science-value robotic surface missions and enable future human exploration. These technologies open up new opportunities for cost-effective missions to Mars, the Moon, asteroids, and beyond. The immediate markets within NASA are for exploration and science missions to surface destinations on the Moon and Mars. Phase II development is in the context of a mission to the lunar pole (i.e., NASA's Lunar Resource Prospector mission, currently in Phase A). The proposed work could also be incorporated into ground data systems for current or future rovers on Mars, such as MSL and Mars 2020 to reduce operator workload and improve path planning results. With additional modifications to the vehicle model, it could be used to plan trajectories for vehicles that explore the surface of Near Earth Asteroids. The technology could also be applied to plan traverse routes for crewed transport vehicles. This work will serve the Exploration Systems Mission Directorate's need for exploration technology development and the Science Directorate's need for investigation of high-value targets at the lunar poles.
The commercial need is for efficient planning and intuitive planning – particularly for those that operate in complicated environments. Planning technologies could benefit unexploded ordinance survey, Special Operation Forces, mining, transit planning, search and rescue operations, and agriculture. Unexploded Ordinance (UXO) is a quarter of a billion dollar a year industry encompassing surveying and disposal. In the US there are 16,000 UXOs sites with an EPA estimated cost of cleanup at least $14 billion. The worldwide need notably includes UXOs from WWI & WWII in France, Belgium, and Germany; approximately 80 million unexploded ordinances in Laos; and approximately 1 million in Lebanon. While the market is vast, manual techniques are labor intensive and costly. The technology proposed here can readily be integrated into planning for automated UXO survey to dramatically improve efficiency and reduce downtime. Unmanned vehicles play a rapidly expanding role in warfare. UGVs and UAVs offer a particularly good fit for resource-constrained planning. Streamlined coordination and planning of multiple robots is crucial to reduce operator workload and improve mission execution. DoD stealth operations, such as Special Operations Forces may use a similar planner for operations in changing environments with objectives of non-visibility to the enemy and communication link availability.","description":"Advances in computer-aided mission planning can enhance mission operations and science return for surface missions to Mars, the Moon, and beyond. While the innovations envisioned by this program are broadly applicable, they serve an immediate and urgent need for missions to prospect for volatiles at the lunar poles (i.e., the NASA Lunar Resource Prospector Mission, currently in Phase A). These missions must be rapid and precise, covering multiple kilometers in approximately 10-12 Earth days to complete mission objectives in one lunar light cycle. This calls for the ability to drive intentionally and efficiently to precise drilling destinations. Polar operations encounter low angle lighting; this creates shadows which confront robot operations with challenges in power production, thermal control, and operator situational awareness. This demands robust path planning for efficient mission planning and execution. The proposed work develops a computer-aided mission planning tool that balances the competing demands of efficient routes, scientific information gain, and rover constraints (e.g., kinematics, communication, power, thermal, and terrainability) to generate and analyze optimized routes between sequences of locations. Planner-computed statistics about the set of viable paths enable mission planners, scientists, and operators to efficiently select routes considering a range of priorities including risk, duration, and science return. This planner will serve an invaluable role in preplanning missions and as a tool for rapidly understanding the impact of changes in mission profile during the mission execution.","startYear":2014,"startMonth":8,"endYear":2016,"endMonth":12,"statusDescription":"Completed","website":"","program":{"acronym":"SBIR/STTR","active":true,"description":"
The NASA SBIR and STTR programs fund the research, development, and demonstration of innovative technologies that fulfill NASA needs as described in the annual Solicitations and have significant potential for successful commercialization. If you are a small business concern (SBC) with 500 or fewer employees or a non-profit RI such as a university or a research laboratory with ties to an SBC, then NASA encourages you to learn more about the SBIR and STTR programs as a potential source of seed funding for the development of your innovations.
The SBIR and STTR programs have 3 phases:
The SBIR and STTR Phase I contracts last for 6 months with a maximum funding of $125,000, and Phase II contracts last for 24 months with a maximum funding of $750,000 - $1.5 million.
Opportunity for Continued Technology Development Post-Phase II:
The NASA SBIR/STTR Program currently has in place two initiatives for supporting its small business partners past the basic Phase I and Phase II elements of the program that emphasize opportunities for commercialization. Specifically, the NASA SBIR/STTR Program has the Phase II Enhancement (Phase II-E) and Phase II eXpanded (Phase II-X) contract options.
Please review the links below to obtain more information on the SBIR/STTR programs.
Provides an overview of the SBIR and STTR programs as implemented by NASA
Provides access to the annual SBIR/STTR Solicitations containing detailed information on the program eligibility requirements, proposal instructions and research topics and subtopics
Schedule and links for the SBIR/STTR solicitations and selection announcements
Federal and non-Federal sources of assistance for small business
Search our complete archive of awarded project abstracts to learn about what NASA has funded
Still have questions? Visit the program FAQs
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The SBIR and STTR programs have 3 phases:
The SBIR and STTR Phase I contracts last for 6 months with a maximum funding of $125,000, and Phase II contracts last for 24 months with a maximum funding of $750,000 - $1.5 million.
Opportunity for Continued Technology Development Post-Phase II:
The NASA SBIR/STTR Program currently has in place two initiatives for supporting its small business partners past the basic Phase I and Phase II elements of the program that emphasize opportunities for commercialization. Specifically, the NASA SBIR/STTR Program has the Phase II Enhancement (Phase II-E) and Phase II eXpanded (Phase II-X) contract options.
Please review the links below to obtain more information on the SBIR/STTR programs.
Provides an overview of the SBIR and STTR programs as implemented by NASA
Provides access to the annual SBIR/STTR Solicitations containing detailed information on the program eligibility requirements, proposal instructions and research topics and subtopics
Schedule and links for the SBIR/STTR solicitations and selection announcements
Federal and non-Federal sources of assistance for small business
Search our complete archive of awarded project abstracts to learn about what NASA has funded
Still have questions? Visit the program FAQs
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