Uncertainty-Aware Trajectory Planning: Using Uncertainty Quantification and Propagation in Traversability Prediction of Planetary Rovers

In an extreme environment, such as Mars or a volcanic area, mobile robots have been used in scientific missions, or as precursors for a future manned mission. The robot called a planetary exploration rover is managed by a space-qualified, radiation-hardened, and low-clock onboard computer, and autonomously travels over challenging terrain.