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Aerobot Autonomy ArchitectureAn architecture for autonomous operation of an aerobot (i.e., a robotic blimp) to be used in scientific exploration of planets and moons in the Solar system with an atmosphere (such as Titan and Venus) is undergoing development. This architecture is also applicable to autonomous airships that could be flown in the terrestrial atmosphere for scientific exploration, military reconnaissance and surveillance, and as radio-communication relay stations in disaster areas. The architecture was conceived to satisfy requirements to perform the following functions: a) Vehicle safing, that is, ensuring the integrity of the aerobot during its entire mission, including during extended communication blackouts. b) Accurate and robust autonomous flight control during operation in diverse modes, including launch, deployment of scientific instruments, long traverses, hovering or station-keeping, and maneuvers for touch-and-go surface sampling. c) Mapping and self-localization in the absence of a global positioning system. d) Advanced recognition of hazards and targets in conjunction with tracking of, and visual servoing toward, targets, all to enable the aerobot to detect and avoid atmospheric and topographic hazards and to identify, home in on, and hover over predefined terrain features or other targets of scientific interest. The architecture is an integrated combination of systems for accurate and robust vehicle and flight trajectory control; estimation of the state of the aerobot; perception-based detection and avoidance of hazards; monitoring of the integrity and functionality ("health") of the aerobot; reflexive safing actions; multi-modal localization and mapping; autonomous planning and execution of scientific observations; and long-range planning and monitoring of the mission of the aerobot. The prototype JPL aerobot (see figure) has been tested extensively in various areas in the California Mojave desert.
Document ID
20090020549
Acquisition Source
Jet Propulsion Laboratory
Document Type
Other - NASA Tech Brief
External Source(s)
http://www.techbriefs.com/component/content/article/5154
Authors
Elfes, Alberto (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Hall, Jeffery L. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Kulczycki, Eric A. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Cameron, Jonathan M. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Morfopoulos, Arin C. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Clouse, Daniel S. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Montgomery, James F. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Ansar, Adnan I. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Machuzak, Richard J. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
May 1, 2009
Publication Information
Publication: NASA Tech Briefs, May 2009
Subject Category
Man/System Technology And Life Support
Report/Patent Number
NPO-45837
Distribution Limits
Public
Copyright
Public Use Permitted.

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