First 210 solar days of Mars 2020 Perseverance Robotic Operations - Mobility, Robotic Arm, Sampling, and Helicopter

Verma, Vandi; Hartman, Frank R.; Rankin, Arturo L.; Maimone, Mark; Sesto, Tyler Del; Toupet, Olivier; Graser, Evan; Myint, Steven; Davis, Kevin; Klein, Douglas; Koch, Justin; Brooks, Sawyer; Bailey, Philip; Justice, Heather; Dolci, Marco; Ono, Hiro

doi:10.1109/aero53065.2022.9843204

Cited by 13 publications

(9 citation statements)

References 15 publications

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“…VO methods enable to estimate the rover's change‐in‐pose by only processing the camera measurements that are independent of dead‐reckoning data, and are not affected by the wheel–soil interaction forces. However, the image processing steps are time‐consuming, and a dedicated hardware (e.g., Field Programmable Gate Array) is required to support real‐time applications, as on Perseverance (Verma et al, 2022).…”

Section: Resultsmentioning

confidence: 99%

“…Perseverance hosts onboard dedicated hardware to carry out demanding computer vision tasks for a safe path planning and an accurate localization based on VO (Verma, 2021;Verma et al, 2022).…”

Section: Introductionmentioning

confidence: 99%

“…Compared with the previous rovers, Perseverance can move across the Martian surface more autonomously, and the visual input from the onboard navigation cameras (NavCams) are processed to continuously replan its trajectory during the motion, without a stop‐and‐go approach. Perseverance hosts onboard dedicated hardware to carry out demanding computer vision tasks for a safe path planning and an accurate localization based on VO (Verma, 2021; Verma et al, 2022).…”

Section: Introductionmentioning

confidence: 99%

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Precise pose estimation of the NASA Mars 2020 Perseverance rover through a stereo‐vision‐based approach

Andolfo

Petricca

Genova

2022

Journal of Field Robotics

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Visual Odometry (VO) is a fundamental technique to enhance the navigation capabilities of planetary exploration rovers. By processing the images acquired during the motion, VO methods provide estimates of the relative position and attitude between navigation steps with the detection and tracking of twodimensional (2D) image keypoints. This method allows one to mitigate trajectory inconsistencies associated with slippage conditions resulting from dead-reckoning techniques. We present here an independent analysis of the high-resolution stereo images of the NASA Mars 2020 Perseverance rover to retrieve its accurate localization on sols 65, 66, 72, and 120. The stereo pairs are processed by using a 3D-to-3D stereo-VO approach that is based on consolidated techniques and accounts for the main nonlinear optical effects characterizing real cameras. The algorithm is first validated through the analysis of rectified stereo images acquired by the NASA Mars Exploration Rover Opportunity, and then applied to the determination of Perseverance's path. The results suggest that our reconstructed path is consistent with the telemetered trajectory, which was directly retrieved onboard the rover's system. The estimated pose is in full agreement with the archived rover's position and attitude after short navigation steps. Significant differences (~10-30 cm) between our reconstructed and telemetered trajectories are observed when Perseverance traveled distances larger than 1 m between the acquisition of stereo pairs.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Precise pose estimation of the NASA Mars 2020 Perseverance rover through a stereo‐vision‐based approach

Andolfo

Petricca

Genova

2022

Journal of Field Robotics

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“…• Autonomous navigation (Autonav), which allows the rover to autonomously determine its drive path in terrains deemed suitable by the Rover Planners, and generally allows for significantly longer distances to be traversed (upwards of 150 m/sol). Autonav capabilities were checked out in a series of FTAs right at the beginning of the crater floor campaign (Verma et al, 2022), so that we could take advantage of the ability to drive longer distances as soon as possible.…”

Section: Campaign Objectivesmentioning

confidence: 99%

“…Several First Time Activities (FTAs)—first time, controlled executions of complex rover capabilities prior to formally releasing the capability for nominal use—were also performed (Table 2). FTAs performed in the first 100 sols included running the first MOXIE O 2 cycle (FTA‐2), several tests to check out Visual Odometry (VO; FTAs 3–5), the first Autonomous Navigation (Autonav; FTAs 10–12) tests (Verma et al., 2022), and the first natural (i.e., no abrasion) PS observations with WATSON (FTAs 6–7). During the periods of commissioning and Ingenuity helicopter demonstrations, the Mars 2020 science team began planning for its first science campaign to explore the Jezero crater floor.…”

Section: Introductionmentioning

confidence: 99%

Overview and Results From the Mars 2020 Perseverance Rover's First Science Campaign on the Jezero Crater Floor

et al. 2023

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The Mars 2020 Perseverance rover landed in Jezero crater on 18 February 2021. After a 100‐sol period of commissioning and the Ingenuity Helicopter technology demonstration, Perseverance began its first science campaign to explore the enigmatic Jezero crater floor, whose igneous or sedimentary origins have been much debated in the scientific community. This paper describes the campaign plan developed to explore the crater floor's Máaz and Séítah formations and summarizes the results of the campaign between sols 100–379. By the end of the campaign, Perseverance had traversed more than 5 km, created seven abrasion patches, and sealed nine samples and a witness tube. Analysis of remote and proximity science observations show that the Máaz and Séítah formations are igneous in origin and composed of five and two geologic members, respectively. The Séítah formation represents the olivine‐rich cumulate formed from differentiation of a slowly cooling melt or magma body, and the Máaz formation likely represents a separate series of lava flows emplaced after Séítah. The Máaz and Séítah rocks also preserve evidence of multiple episodes of aqueous alteration in secondary minerals like carbonate, Fe/Mg phyllosilicates, sulfates, and perchlorate, and surficial coatings. Post‐emplacement processes tilted the rocks near the Máaz‐Séítah contact and substantial erosion modified the crater floor rocks to their present‐day expressions. Results from this crater floor campaign, including those obtained upon return of the collected samples, will help to build the geologic history of events that occurred in Jezero crater and provide time constraints on the formation of the Jezero delta.

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Review on soft landing buffer systems for planetary exploration

Yin,

Wang,

et al. 2024

Acta Astronautica

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First 210 solar days of Mars 2020 Perseverance Robotic Operations - Mobility, Robotic Arm, Sampling, and Helicopter

Cited by 13 publications

References 15 publications

Precise pose estimation of the NASA Mars 2020 Perseverance rover through a stereo‐vision‐based approach

Precise pose estimation of the NASA Mars 2020 Perseverance rover through a stereo‐vision‐based approach

Overview and Results From the Mars 2020 Perseverance Rover's First Science Campaign on the Jezero Crater Floor

Review on soft landing buffer systems for planetary exploration

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