An Integrated System for Multi-Rover Scientific Exploration

This paper describes an integrated system for coordinating multiple rover behavior with the overall goal of collecting planetary surface data. The MultiP~over Integrated Science Understanding System combines concepts from machine learning with planning and scheduling to perform autonomous scientific exploration by cooperating rovers. The integrated system utilizes a novel machine learning clustering component to analyze science data and direct new science activities. A planning and scheduling system is employed to generate rover plans for achieving science goals and to coordinate activities among rovers. We describe each of these components and discuss some of the key integration issues that arose during development and influenced both system design and performance.