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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.
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