Homepage | Links | Contacts
Projects

Duration:
Status: Concluded
Duration: 12 month (starting date March 2013)
Project Contact: Rita Ribeiro (rar@uninova.pt)

Financing: ESA

FUSION - Sensor Data Fusion for Hazard Mapping and Piloting
Project Summary

The main objectives for this study are:

  • To trade-off terrain sensors fusion solutions for HDA applied to planetary EDL.
  • To develop a set of complete hazard mapping data fusion techniques and integration into a simulation environment.
  • To perform the benchmarking of the proposed solutions based on their complexity, performance, and robustness.
  • To assess the applicability of the methods to terrain relative navigation.
  • To provide a roadmap for future developments.

Schematically the data fusion process is:

Three data fusion and piloting approaches will be compared:

  • H2DAS - Hybrid Hazard Detection and Avoidance, is a complete Camera-LIDAR HDA system developed by Spin.Works to enable the safe landing of a planetary mission.
  • IPSIS - Intelligent Planetary SIte Selection is a multi-criteria, dynamic decision-level data fusion algorithm which takes into account historical information for the selection of landing sites which meet mission, safety and reachability requirements in the scope of a planetary mission. Developed by UNINOVA.
  • 3MSF - Tiered multi-sensors fusion methodology is an approach that operates at the information level and performs multi-sensor information fusion using a tiered sensor grouping approach that is based on the availability of different sensors at different altitudes. Terrain features are integrated using principles of reasoning under uncertainty. It combines 3 methodologies to infer landing safety: Fuzzy Reasoning, Probabilistic Reasoning and Evidential Reasoning. Developed by JPL (USA)

Research areas
  • Fuzzy logic
  • Evidential reasoning
  • Image processing
  • Multi-criteria decision making

Partners

Relevant Publications

T. C. Pais, R. A. Ribeiro, L. F. Simões. Uncertainty in dynamically changing input data. In: Computational Intelligence in Complex Decision Systems. DaRuan (Ed), Atlantis Computational Intelligent Systems-Vol 2, Chapter 2, World Scientific (2010). ISBN: 9789078677277

Simoes, L., Bourdarias, C., and Ribeiro, R.A., Real-Time Planetary Landing Site Selection -- A Non-Exhaustive Approach, Acta Futura, 5 (2012) pp.39-52, http://dx.doi.org/10.2420/AF05.2012.39

Y. Devouassoux, S. Reynaud, G. Jonniaux, R. A. Ribeiro, T. C. Pais. Hazard avoidance developments for planetary exploration. In: Proceedings of the 7th International ESA Conference on Guidance, Navigation & Control Systems, Tralee, Ireland,2-5 June 2008.

Clement Bourdarias, Cunha, P. Da , Drai, R., Simões, L. F., and Ribeiro, R. A. Optimized and flexible multi-criteria decision making for hazard avoidance. In Proceedings of the 33rd Annual AAS Rocky Mountain Guidance and Control Conference, Colorado, USA. American Astronautical Society. (2010).

L. F. Simoes, T. C. Pais, R. A. Ribeiro, G. Jonniaux, and S. Reynaud, Search methodologies for efficient planetary site selection. In: IEEE Congress on Evolutionary Computation (CEC 2009), Norway, May 2009 :1981-1987.