We are studying how "robotic follow-up" can improve future planetary exploration. Robotic follow-up, which we define as augmenting human field work with subsequent robot activity, is a field exploration technique designed to increase human productivity and science return. To better understand the benefits, requirements, limitations and risks associated with this technique, we are conducting analog field tests with human and robot teams at the Haughton Crater impact structure on Devon Island, Canada. In this paper, we discuss the motivation for robotic follow-up, describe the scientific context and system design for our work, and present results and lessons learned from field testing.

Land-based waypoint navigation usually requires accurate position information to effectively function in either natural or man-made terrain. Most systems solve this problem by using differential GPS and/or high-quality, expensive inertial navigation systems. In an effort to make waypoint navigation available to smaller tactical platforms, a tightly packaged, portable and inexpensive waypoint navigation system was developed. This system was implemented on the Man Portable Robotic System (MPRS) Urban Robot (URBOT) 1. The package uses inexpensive sensors and a combination of standard Kalman Filter and waypoint following techniques along with some novel approaches to compensate for the deficiencies of the GPS and gyroscope sensors. The algorithms run on a low-cost embedded processor. A control unit was also developed that allows the operator to specify path waypoints on ortho-rectified aerial photographs. 1. Background The goal of this project was to develop a robust waypoint navigation capability for a small mobile robot that did not rely on the availability of differential GPS. Here waypoint navigation is defined as the process of automatically following a predetermined path defined by a set of geodetic coordinates. The requirement for using non-differential Report Documentation Page Form Approved OMB No. 0704-0188 Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.

Development of Unmanned Ground Vehicles (UGVs) has been ongoing for decades. Much of the technology developed for UGVs can be applied directly to Unmanned Surface Vehicles (USVs) with little or no modification. SPAWAR Systems Center San Diego (SSC San Diego) has successfully demonstrated this by transitioning technology (both hardware and software) from a man-portable UGV to a USV demonstrator platform. By transitioning technology already proven in a UGV, SSC San Diego was able to develop a working USV much more quickly than would have been otherwise possible.The technologies ported from the UGV to the USV include: the software architecture and protocol, teleoperation, a Kalman filter for state estimates, waypoint navigation, the Operator Control Unit (OCU), miniature processors, Ethernet switches and a video CODEC board.

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