We present a baseline approach to Functional Autonomyfor the purpose of conducting excavation and samplingbehaviors in a proposed Europa Lander mission. Aspects ofthe problems of site selection, excavation progress tracking,and fault identification are related; with particular emphasison parameters peculiar to an icy moon environment. Firstpass approaches to addressing these challenges are presentedin isolation, while motivating the current development goal ofproducing a general Functional Autonomy architecture thatallows state estimation, fault diagnosis, isolation, & recovery(FDIR), and adaptive behaviors to be formulated in concert.


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    Title :

    Functional Autonomy Challenges in Sampling for an Europa Lander Mission


    Contributors:
    Backes, Paul (author) / Wilson, Reg (author) / Cheng, Yang (author) / Emmanuel, Blair (author) / Gildner, Matt (author) / Kim, Sung (author) / Kim, David (author) / Thakker, Rohan (author) / Nash, Jeremy (author) / Bowkett, Joseph J (author)

    Publication date :

    2021-03-06


    Type of media :

    Preprint


    Type of material :

    No indication


    Language :

    English



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