Research/ ISRU & CONSTRUCTION
A Concept for Planetary Drilling Autonomy
Sarah E Boelter, Ebasa Temesgen, Greta Brown, Mario Jerez, Elsa Forberger, Brian J Glass, Maria Gini
Manipulation & GraspingNTRS keyword: planetary drilling
NTRSCybernetics, Artificial Intelligence and Robotics
In planetary environments, robotic agents must reason through faults before they escalate to mission-critical failures. No broadly applicable solution exists to give a specialized agent like The Regolith and Ice Drill for ExploringNew Terrain (TRIDENT) awareness for when a situation may escalate to a drilling fault. We propose building on our previous work with online time-series subspace analysis methods and percussive beat frequency detection techniques to define a Markov Decision Process to autonomously avoid drilling faults.