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Robotic Mission Simulation Tool Project

Summary

Type of release
a one-off release of a single dataset

Data Licence
Not Applicable

Content Licence
Creative Commons CCZero

Verification
automatically awarded

Release Date
9 April 2015
Modified Date
8 July 2015
Publishers
National Aeronautics and Space Administration
Keywords
ames-research-center, completed, project
Identifier
robotic-mission-simulation-tool-project
Landing Page
http://techport.nasa.gov/view/16715
Maintainers
Gary Jahns gary.c.jahns@nasa.gov
Language
en-US

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Description

Energid Technologies proposes a software tool to predict robotic mission performance and support supervision of robotic missions even when environments and situations are profoundly unknown. It transcends common Monte Carlo simulations by supporting input parameters for which probability distributions are not available. Stochastic optimization is combined with randomized simulation to bound statistical measures of performance and convey the parameters giving the extreme scenarios. It also provides 3D immersive presentation of those scenarios. The act of performing multiple simulation runs in real time is enabled by the fast simulation capability provided by Energid Technologies' existing software combined with the development of new algorithms and software. The new algorithms cover path planning, scene rendering, sensor modeling, and robot-terrain interaction modeling. In the new software, automatic path planning is calculated using a combination of static and dynamic techniques. Scene rendering for sensor modeling is implemented using fast ray tracing for low-update-rate sensors and ray-tracing-validated rasterization for fast-update-rate sensors. Robot-terrain interaction is calculated through particle simulations implemented on graphics cards. For maximum performance, the new software allows distribution of randomized simulation runs over multiple networked PCs and cloud-based clusters. This combination of fast algorithms and statistical optimization offers a tool that provides new engineering insights and data. The software will be demonstrated on the example mission of searching for ice near near the southern lunar pole, giving evidence of the ability of the tool to support challenging relevant missions.

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This dataset has been created by US Government which means it is required to be in the public domain. However US copyright law only allows open access by US citizens, we have assumed the data is equivalently licensed as CC0 for the rest of the world as this is in the spirit of the US Government’s Open Data policy.

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