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Onboard autonomy technologies such as planning and scheduling, identification of scientific targets, and content-based data summarization, will lead to exciting new space science missions. However, the challenge of operating missions with such onboard autonomous capabilities has not been studied to a level of detail sufficient for consideration in mission concepts. These autonomy capabilities will require changes to current operations processes, practices, and tools. We have developed a case study to assess the changes needed to enable operators and scientists to operate an autonomous spacecraft by facilitating a common model between the ground personnel and the onboard algorithms. We assess the new operations tools and workflows necessary to enable operators and scientists to convey their desired intent to the spacecraft, and to be able to reconstruct and explain the decisions made onboard and the state of the spacecraft. Mock-ups of these tools were used in a user study to understand the effectiveness of the processes and tools in enabling a shared framework of understanding, and in the ability of the operators and scientists to effectively achieve mission science objectives., Comment: 16 pages, 18 Figures, 1 Table, to be published in IEEE Aerospace 2022 (AeroConf 2022)

The NASA Mars 2020 Perseverance rover landed in Jezero crater on Mars on 18 February 2021. It is a science mission to collect and cache sample cores for possible return to Earth in the future. Robot collision modeling is traditionally used in robotics for hardware safety for manipulation and sampling. The Mars 2020 Rover Collision Model (RCM) optimizes and extends collision checking in innovative ways to provide a range of onboard autonomous capability on a computationally constrained system. It provides an example of the benefit of systems and operations cognizant software design and development of autonomous systems.

The Perseverance rover landed in Jezero crater,Mars, on 18 February 2021. It carried with it a technologydemonstration, the Ingenuity helicopter, which hasdemonstrated the first controlled, powered flight on anotherplanet. This paper describes how an iconic, April 2021 imageof the Perseverance rover with the Ingenuity helicopter wasdesigned and executed as the rover was getting ready todeploy the helicopter. WATSON is a camera mounted at theend of the rover’s robotic arm and was used to acquire theself-portrait. WATSON is designed to take close up picturesof rocks and regolith on Mars but can also provide views ofthe terrain. A single image covers a small portion of thescene. In order to a create a mosaic covering the full roverand helicopter, 62 WATSON images were acquired. To allowthe images to be mosaicked together, the camera needs to bekept in the same spot. The robotic arm has five degrees offreedom for motion; small changes in orientation can requiresignificant repositioning of the robotic arm joints. Todocument this, a movie of the arm motion was acquired bythe rover’s mast-mounted left navigation camera pointed atthe WATSON and robotic arm while it was simultaneouslymoving to acquire the selfie. For the first time, we alsocaptured the sound of the arm motion as it was acquiring theselfie. In the case of the Perseverance selfie with the Ingenuity helicopter, we also had to think about how toposition the rover with respect to the helicopter and fit theselfie acquisition into the helicopter prime mission timeline.This paper also describes the history of NASA Mars roverselfies.

This paper includes the summary, lessonslearned, and upcoming plans for the first 210 Mars solar days(sols) of the mission. The focus of the paper is on roboticoperations which has the primary responsibility for strategicplanning, uplink commanding and downlink analysis forrover mobility and navigation, robotic arm operation, thesampling and caching capability including coring, theadaptive caching assembly and the 2nd sample handlingrobotic arm, and interface to the Mars helicopter Ingenuity.As of Sol 210 the rover has driven 2663.65 meters, executed20764 robotic arm and sampling commands, and hassuccessfully completed 13 helicopter flights covering 2382meters horizontal distance. It includes the OperationsReadiness Tests in preparation for landing, landing and initialcheckouts, strategic route planning to the science destinationand waypoints, surface checkout of all of the roboticscapability of the rover. It also discusses the strategic planningand tactical agility needed for interleaving scienceinvestigation and technology demonstration of the Marshelicopter flights where a minimum distance had to bemaintained between the rover and helicopter during flights. Itdiscusses the challenges with planning robotic operations andaddressing anomalies with the larger uncertainty presentduring early mission operations. It also discusses the impacton robotic operations from lessons incorporated fromprevious missions.

Autonomous Exploration for Gathering Increased Science (AEGIS) was uploaded on the NASA Mars Science Laboratory (MSL) Curiosity rover in 2015 for autonomous target selection. This paper presents results from the first four years of its regular opera-tion on Mars for autonomously selecting targets for the ChemCam remote geochemical spectrometer with a focus on the most recent findings. Results show that AEGIS has targeted the most desired material greater than 93% of the time vs 24% without onboard intelligent targeting. There has also been a notable increase in the rate of ChemCam observations. AE-GIS is also part of surface flight software for the NASA Mars 2020 Perseverance rover. This paper describes new AEGIS capabilities that will be availa-ble for autonomously targeting the SuperCam in-strument after the planned 18 February 2021 landing in Jezero crater on Mars.

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In this paper we present MEXEC - a lightweight on-board planning and execution system that monitors spacecraft state to robustly respond to current conditions. In addition it projects the remaining plan forward in time to detect conflicts and revise the plan. Most current planetary missions use sequence based commanding from the ground,which limits the ability to respond to on-board state varying from planned for state. This results in planning for worst-case execution time, power utilization, data volume and other resources and leads to under utilization of the spacecraft capability. It also limits the ability to respond to faults. Due to the high radiation environment at Jupiter the probability of flight software resets is high. Therefore, of particular interest to the planned Europa Mission is the capability to restart the science plan after flight software resets. In this paper we present results from running Europa flyby scenarios with flight software resets in the Europa flight software test environment. Preliminary results with the prototype scenario show MEXEC takes less than a tenth of a second to respond to resets. The development was done as part of Europa-focused flight software, but MEXEC was designed to be applicable to landers and rovers as well.

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Plan execution is a cornerstone of spacecraft operations, irrespective of whether the plans to be executed are generated on board the spacecraft or on the ground. Plan execution frameworks vary greatly, due to both different capabilities of the execution systems, and relations to associated decision-making frameworks. The latter dependency has made the reuse of execution and planning frameworks more difficult, and has all but precluded information sharing between different execution and decision-making systems. As a step in the direction of addressing some of these issues, a general plan execution language, called the Plan Execution Interchange Language (PLEXIL), is being developed. PLEXIL is capable of expressing concepts used by many high-level automated planners and hence provides an interface to multiple planners. PLEXIL includes a domain description that specifies command types, expansions, constraints, etc., as well as feedback to the higher-level decision-making capabilities. This document describes the grammar and semantics of PLEXIL. It includes a graphical depiction of this grammar and illustrative rover scenarios. It also outlines ongoing work on implementing a universal execution system, based on PLEXIL, using state-of-the-art rover functional interfaces and planners as test cases.

NASA scientists in MDRS Crew 49 (April 23-May 7, 2006) field tested and significantly extended a prototype monitoring and advising system that integrates power system telemetry with a voice commanding interface. A distributed, wireless network of functionally specialized agents interacted with the crew to provide alerts (e.g., impending shut-down of inverter due to low battery voltage), access md interpret historical data, and display troubleshooting procedures. In practical application during two weeks, the system generated speech over loudspeakers and headsets lo alert the crew about the need to investigate power system problems. The prototype system adapts the Brahms/Mobile Agents toolkit to receive data from the OneMeter (Brand Electronics) electric metering system deployed by Crew 47. A computer on the upper deck was connected to loudspeakers, four others were paired with wireless (Bluetooth) headsets that enabled crew members to interact with their personal agents from anywhere in the hab. Voice commands and inquiries included: 1. What is the {battery | generator} {volts | amps | volts and amps}? 2. What is the status of the {generator | inverter | battery | solar panel}? 3. What is the hab{itat} {power usage | volts | voltage | amps | volts and amps}? 4. What was the average hab{itat} {amps | volts | voltage} since <#> {AM | PM)? 5. When did the {generator | batteries} change status? 6. Tell {me I | everyone} when{ ever} the generator goes offline. 7. Tell {me | | everyone} when the hab{itat} {amps | volts | voltage} {exceeds | drops brelow} <#>. 8. {Send | Take | Record} {a} voice note {(for | to} } {at }. This research demonstrates the principles of design in the context of use, investigating requirements through experimental use of prototype systems in an analog setting, and use of MDRS as a research facility for designing and implementing new systems.

NASA spacecraft and robots operate at long distances from Earth Command sequences generated manually, or by automated planners on Earth, must eventually be executed autonomously onboard the spacecraft or robot. Software systems that execute commands onboard are known variously as execution systems, virtual machines, or sequence engines. Every robotic system requires some sort of execution system, but the level of autonomy and type of control they are designed for varies greatly. This paper presents a survey of execution systems with a focus on systems relevant to NASA missions.