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CU Senior Projects -- JPL Team
M.A.R.S.
The Martian Autonomous Routing System (or MARS) is a command-line utility that produces lists of coordinates describing possible routes for a rover to take to reach a goal coordinate from the start, whilst navigating a provided elevation map, within the bounds of its physical capabilities.
Members:
- Ross Blassingame
- Robert Ballard
- Shawn Polson
- Josh Jenkins
- Chandler Samuels
- Dean Moser
Sponsor
This project is sponsored by NASA Jet Propulsion Laboratory, with Marcel Llopis providing advice and oversight for the work.
Usage
The first step after cloning this repo is to download all the maps used in M.A.R.S. to your machine: https://drive.google.com/drive/folders/1xHH8RP3YiBOSrKbFDmddHxtVKfZrIqUE?usp=sharing
Next, place those maps inside of src/main/resources.
Input
To use the program, you must provide it:
- a compatible elevation map (see below)
- specifications for a theoretical rover, including a maximum slope it can safely traverse, as well as field of view for using the limited route algorithm
- a start coordinate (in pixels or latitude/longitude) corresponding to a location on the input map
- an end coordinate (in pixels or latitude/longitude) also corresponding to the map
- a specified algorithm type to run (see below)
- a specified algorithm to run (see below)
- a specified coordinate output type (see below)
- a specified output type (see below)
Compatible elevation map formats include:
| Format | Accepted Extension(s) |
|---|---|
| GeoTIFF | .tiff, .tif |
Available maps include:
| Map Names | Prompt Key |
|---|---|
| Europa | (1) |
| Mars (global) | (2) |
| Mars (Aeolus region | (3) |
| Phobos (global) | (4) |
| Phobos (Viking mosaic) | (5) |
Available algorithm types include:
| Algorithm Type | Prompt Key | Description |
|---|---|---|
| Unlimited scope | U | Navigates from start to goal with perfect information with regards to the elevation map. |
| Limited scope | L | Navigates from start to goal with information gathered as it traverses the elevation map. |
Available algorithms include:
| Unlimited Algorithms | Prompt Key | Description |
|---|---|---|
| Greedy | (1) | Navigates from start to goal with perfect information with regards to the elevation map. |
| IDA* | (2) | Navigates from start to goal with information gathered as it traverses the elevation map. |
| Best First | (3) | Navigates from start to goal with perfect information with regards to the elevation map. |
| Breadth First Search | (4) | Navigates from start to goal with information gathered as it traverses the elevation map. |
| A* (Non-Recursive) | (5) | Navigates from start to goal with perfect information with regards to the elevation map. |
| A* (Recursive) | (6) | Navigates from start to goal with information gathered as it traverses the elevation map. |
| Dijkstra | (7) | Navigates from start to goal with information gathered as it traverses the elevation map. |
| Limited Algorithms | Prompt Key | Description |
|---|---|---|
| Greedy | (1) | Navigates from start to goal with perfect information with regards to the elevation map. |
| IDA* | (2) | Navigates from start to goal with information gathered as it traverses the elevation map. |
| Best First | (3) | Navigates from start to goal with perfect information with regards to the elevation map. |
| Breadth First Search | (4) | Navigates from start to goal with information gathered as it traverses the elevation map. |
| A* (Non-Recursive) | (5) | Navigates from start to goal with perfect information with regards to the elevation map. |
| A* (Recursive) | (6) | Navigates from start to goal with information gathered as it traverses the elevation map. |
| Dijkstra | (7) | Navigates from start to goal with information gathered as it traverses the elevation map. |
Available output coordinate types include:
| Coordinate Type | Prompt Key | Description |
|---|---|---|
| Pixel | P | Outputs the rover's path from start to goal coordinate in pixels. |
| Lat/Lon | L | Outputs the rover's path from start to goal coordinate in latitude and longitude. |
Available output options include:
| Output Type | Prompt Key | Description |
|---|---|---|
| File Output | (1) | Outputs the rover's path from start to goal coordinate in an external CSV file. |
| Image Output | (2) | Outputs the rover's path from start to goal coordinate by coloring the path on the GeoTIFF. |
| Terminal Output | (3) | Outputs the rover's path from start to goal coordinate in the terminal. |
This information can be provided to the utiltity by simply running it, and following the prompts.
Execution
Once the program completes, the resultant path the chosen algorithm determined will be output to the terminal in a human-readable format. It can be run again to check against another algorithm or saved to a CSV.