A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Relating autoepistemic and default logics
Proceedings of the first international conference on Principles of knowledge representation and reasoning
Direct Least Square Fitting of Ellipses
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robotic rock classification and autonomous exploration
Robotic rock classification and autonomous exploration
Journal of Field Robotics - Special Issue on Space Robotics, Part III
Automatic detection of dust devils and clouds on Mars
Machine Vision and Applications
Autonomous science for an ExoMars Rover–like mission
Journal of Field Robotics - Special Issue on Space Robotics, Part II
Targeted driving using visual tracking on Mars: From research to flight
Journal of Field Robotics - Special Issue on Space Robotics, Part I
A few billion lines of code later: using static analysis to find bugs in the real world
Communications of the ACM
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The Autonomous Exploration for Gathering Increased Science (AEGIS) system enables automated data collection by planetary rovers. AEGIS software was uploaded to the Mars Exploration Rover (MER) mission’s Opportunity rover in December 2009 and has successfully demonstrated automated onboard targeting based on scientist-specified objectives. Prior to AEGIS, images were transmitted from the rover to the operations team on Earth; scientists manually analyzed the images, selected geological targets for the rover’s remote-sensing instruments, and then generated a command sequence to execute the new measurements. AEGIS represents a significant paradigm shift---by using onboard data analysis techniques, the AEGIS software uses scientist input to select high-quality science targets with no human in the loop. This approach allows the rover to autonomously select and sequence targeted observations in an opportunistic fashion, which is particularly applicable for narrow field-of-view instruments (such as the MER Mini-TES spectrometer, the MER Panoramic camera, and the 2011 Mars Science Laboratory (MSL) ChemCam spectrometer). This article provides an overview of the AEGIS automated targeting capability and describes how it is currently being used onboard the MER mission Opportunity rover.