Communication Scheduling and Plan Revision For Planetary Rovers

Planetary rover planners involve complex reasoning systems where severe resources and communication constraints must be respected. The paper discusses innovative planning methods that integrate a resources planner with a communication optimizer and scheduler. Conditional planning is then discussed as a possible method to reinforce rover autonomy remaining under a stringent ground controlled operation scenario. In case the communication optimizer and the scheduler are also integrated into the onboard process, rover could provide additional capabilities of planning revision covering a longer time span.