Rover Science on the Run: Autonomously Detecting and Reacting to Interesting Geologic Features

The goal of the Onboard Autonomous Science Investigation System (OASIS) project at NASA's Jet Propulsion Laboratory (JPL) is to evaluate, and autonomously act upon, science data gathered by in-situ spacecraft, such as planetary landers and rovers. Using the FIDO rover in the Mars Yard at JPL, we have successfully performed a demonstration of the rover acquiring image data, finding rocks in the image, analyzing rock properties and identifying rocks that merit further investigation. The rover is then alerted to take additional measurements of interesting rocks, and the planning and scheduling component determines if there are enough resources to meet this additional science data request. The rover is then instructed to either turn toward the rock, or to actually move closer to the rock to take an additional, close up, picture.