Integrating Planning and Execution for Multiple Rover Operations

This paper describes a dynamic planning system for coordinatingmultiple rovers in collecting planetary surfacedata. A distributed planning system is shown togenerate rover plans for achieving science goals, coordinateactivities among rovers, monitor plan execution,and perform re-planning when necessary. Specically,we describe how rover command generation can be automatedto help relieve some of the burden on humanoperators. We describe the issues inherent in planningfor a...