Experiments in Sun-Synchronous Robotic Exploration

David Wettergreen
Field Robotic Center
Robotics Institute
Carnegie Mellon University

Time and Place

1305 Newell-Simon Hall
Refreshments 3:15 pm
Talk 3:30 pm

Abstract

Robotic exploration of planetary surfaces is restricted by the availability of power. With constant energy, surface exploration missions could last for months or years. Sun-synchronous navigation may someday provide the means for perpetual operation to explore scientifically-interesting and develop resource-rich regions of planets and moons. Sun-synchronous navigation is accomplished by reasoning about sunlight: where the Sun is in the sky, where and when shadows will fall, and how much power can be obtained through various courses of action. In July 2001 a solar-powered rover, named Hyperion, completed two sun-synchronous exploration experiments in the Canadian high arctic (75°N latitude). Using knowledge of orbital mechanics, perception of local terrain, and models of power consumption, Hyperion planned sun-synchronous routes to visit selected locations while obtaining the necessary solar power for continuous operation. Hyperion executed its plan and returned to its starting location with batteries fully charged after traveling kilometers of barren, Mars-analog terrain. In this talk I will explain the concept of Sun-Synchronous exploration. I will describe the unique design of the Hyperion mechanism and the software that enables it to operate sun-synchronously. I will discuss the results from analysis of our experiments on Devon Island in Canada and conclude with thoughts on where this may lead in the future.

Speaker Biography

David Wettergreen is a Research Scientist in the Robotics Institute at Carnegie Mellon University. He was co-Investigator and project manager for the Sun-Synchronous Exploration project and field leader for experiments conducted on Devon Island in Canada. He obtained his Ph.D. in Robotics from the School of Computer Science in 1995 and conducted post-doctoral work at NASA Ames Research Center in 1996-97. He was a Research Fellow at the Australian National University in 1998-2000. Dr. Wettergreen's research interest is in robotic exploration. For more than a decade, through robots including Dante, Marsokhod, Nomad, Kambara and Hyperion in sites in Antarctica, Alaska, Chile, Australia and Canada, robotic exploration of challenging environments has been a sustained theme. Dr. Wettergreen's work demands field-deployable robots and spans formulation through synthesis to field experimentation. He addresses robotic exploration underwater, on the surface, and in air and space, and the necessary ingredients of perception, planning, learning and control for robot autonomy. His sustaining goal is to develop the methods and practice that robots require to engage in scientific discovery, meaningful work, and bold adventure on our planet and beyond.

Speaker Appointments

For appointments, please contact Yanxi Liu (yanxi@cs.cmu.edu).