Subsurface Prospecting by Planetary Drones, Phase I

Metadata Updated: July 17, 2020

The proposed program innovates subsurface prospecting by planetary drones to seek a solution to the difficulty of robotic prospecting, sample acquisition, and sample characterization at multiple hazardous locations in a single mission. Innovation focuses on a specific, challenging scenario: sub-surface access of multiple lava tubes by drones far enough from Earth for speed-of-light latency to preclude direct human control. The technology will be broadly applicable to resource prospecting in cold traps, dark craters, cryovolcanoes, asteroids, comets, and other planets. The technology is also applicable to Earth-relevant problems such as the detection of poisonous and explosive gases and flammable dust in mines; and surveying urban canyons; exploring bunkers and caves.

The proposed innovation is the development of Anytime Motion Planners that can generate feasible guidance routines to accomplish subsurface prospecting by planetary drones. Anytime Motion Planners are algorithms that can quickly identify an initial feasible plan, then, given more computation time available during plan execution, improve the plan toward an optimal solution. In addition to Anytime Motion Planners, optimal guidance routines will also be innovated in this work by formulating the Generic Autonomous Guidance Optimal Control Problem (Problem G&C) (Pavone, Acikmese, Nesnas, & Starek, 2013) as a convex optimization problem and employing interior-point methods to solve the resulting problem to global optimality. This work will determine whether optimal solutions may be computed quickly enough to be useful in practice.

Access & Use Information

Public: This dataset is intended for public access and use. License: No license information was provided. If this work was prepared by an officer or employee of the United States government as part of that person's official duties it is considered a U.S. Government Work.

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Dates

Metadata Created Date August 1, 2018
Metadata Updated Date July 17, 2020

Metadata Source

Harvested from NASA Data.json

Additional Metadata

Resource Type Dataset
Metadata Created Date August 1, 2018
Metadata Updated Date July 17, 2020
Publisher Space Technology Mission Directorate
Unique Identifier TECHPORT_34165
Maintainer
Public Access Level public
Bureau Code 026:00
Metadata Context https://project-open-data.cio.gov/v1.1/schema/catalog.jsonld
Metadata Catalog ID https://data.nasa.gov/data.json
Schema Version https://project-open-data.cio.gov/v1.1/schema
Catalog Describedby https://project-open-data.cio.gov/v1.1/schema/catalog.json
Harvest Object Id 099dbd5a-7291-4593-930e-96dfd3f8e5b6
Harvest Source Id 39e4ad2a-47ca-4507-8258-852babd0fd99
Harvest Source Title NASA Data.json
Data First Published 2016-06-01
Homepage URL https://techport.nasa.gov/view/34165
Data Last Modified 2020-01-29
Program Code 026:027
Source Datajson Identifier True
Source Hash e6924763260703902e4f2c2c4261fa3a1546b5c7
Source Schema Version 1.1

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