Algorithms
Estimation
| Algorithm | 6DOF EKF pose estimator | Provider(s) | S. Roumeliotis |
| Integration | Level 4 | Institution | JPL |
| Algorithm | Visual odometry pose estimator | Provider(s) | L. Matthies, Y. Cheng |
| Integration | Level 3 | Institution | JPL |
| Algorithm | AEJ visual odometry pose estimator | Provider(s) | A.E. Johnson, L. Matthies |
| Integration | Level 3 | Institution | JPL |
| Algorithm | FLEXnav pose estimator | Provider(s) | J. Borenstein |
| Integration | Level 0 | Institution | U. Michigan |
| Algorithm | MER pose estimator | Provider(s) | K. Ali |
| Integration | Level 0 | Institution | JPL |
| Algorithm | 3DOF EKF pose estimator (FIDO) | Provider(s) | E. Baumgartner |
| Integration | Level 4 | Institution | JPL |
| Algorithm | IMU integration pose estimator (Rocky 7) | Provider(s) | R. Volpe |
| Integration | Level 4 | Institution | JPL |
| Algorithm | Sojourner pose estimator | Provider(s) | J. Morrison |
| Integration | Level 4 | Institution | JPL |
| Algorithm | Sun sensor heading estimator | Provider(s) | A. Diaz-Calderon |
| Integration | Level 2 | Institution | JPL |
| Algorithm | Terrain parameters estimator (e.g. soil cohesion) | Provider(s) | S. Dubowsky, K.Iagnema |
| Integration | Level 0 | Institution | MIT |
Navigation
| Algorithm | Morphin navigator | Provider(s) | R. Simmons |
| Integration | Level 4 | Institution | CMU |
| Algorithm | GESTALT navigator | Provider(s) | M. Maimone |
| Integration | Level 2 | Institution | JPL |
| Algorithm | Drivemaps navigator | Provider(s) | H. Aghazarian |
| Integration | Level 3 | Institution | JPL |
| Algorithm | Fuzzy navigator | Provider(s) | H. Seraji |
| Integration | Level 0 | Institution | JPL |
| Algorithm | Rover bug navigator | Provider(s) | S. Laubach |
| Integration | Level 0 | Institution | JPL |
Path Planning
| Algorithm | D* path planner | Provider(s) | A. Stentz |
| Integration | Level 3 | Institution | CMU |
| Algorithm | Tangent graph path planner | Provider(s) | S. Laubach |
| Integration | Level 1 | Institution | Caltech |
| Algorithm | TEMPEST planner | Provider(s) | A. Stentz, P. Tompkins |
| Integration | Level 2 | Institution | CMU |
Vision
| Algorithm | JPLV Library Stereo Vision and Visual Odometry |
Provider(s) | Computer vision group |
| Integration | Level 1 | Institution | JPL |
| Algorithm | JPL stereo processor | Provider(s) | Computer vision group |
| Integration | Level 3 | Institution | JPL |
| Algorithm | ARC mesh registration | Provider(s) | ARC Intelligent robotics group (IRG) |
| Integration | Level 4 | Institution | ARC |
| Algorithm | ARC stereo processor | Provider(s) | ARC Intelligent robotics group (IRG) |
| Integration | Level 4 | Institution | ARC |
| Algorithm | ARC instrument placement safety checking | Provider(s) | ARC Intelligent robotics group (IRG) |
| Integration | Level 2 | Institution | ARC |
| Algorithm | ARC rock/ground segmentation | Provider(s) | L. Pedersen |
| Integration | Level 2 | Institution | ARC |
| Algorithm | SVS stereo processor | Provider(s) | K. Konolige |
| Integration | Level 3 | Institution | SRI |
| Algorithm | Wide baseline stereo processor | Provider(s) | C. Olson |
| Integration | Level 4 | Institution | U. Washington |
| Algorithm | Panoramic image bundle adjustement | Provider(s) | R. Li |
| Integration | Level 1 | Institution | OSU |
| Algorithm | SDOF visual trackier | Provider(s) | M. Bualat, D. Wettergreen |
| Integration | Level 1 | Institution | ARC |
| Algorithm | Affine visual tracker | Provider(s) | M. Bajracharya, E. Bandari |
| Integration | Level 4 | Institution | JPL |
| Algorithm | Falcon visual tracker | Provider(s) | I. Nesnas, M. Bajracharya, R. Madison, E. Bandari, M. Bualat, C. Kunz, M. Deans |
| Integration | Level 4 | Institution | JPL, ARC |
| Algorithm | Visual wheel sinkage | Provider(s) | C. Brooks, K. Iagnema |
| Integration | Level 2 | Institution | MIT |
Localization
| Algorithm | Multi-view rover localizer using bundle adjustment | Provider(s) | R. Li , K. Di, J. Wang, S. He |
| Integration | Level 1 | Institution | Ohio State University |
Locomotion
| Algorithm | Wheeled-vehicle forward kinematics | Provider(s) | CLARAty Team |
| Integration | Level 4 | Institution | JPL |
| Algorithm | Wheeled-vehicle inverse kinematics | Provider(s) | CLARAty Team |
| Integration | Level 4 | Institution | JPL |
| Algorithm | Wheeled-vehicle parallel park maneuvers | Provider(s) | I. Nesnas |
| Integration | Level 4 | Institution | JPL |
| Algorithm | Continuous driving (2D) | Provider(s) | H. Das |
| Integration | Level 4 | Institution | JPL |
| Algorithm | Slope locomotion control | Provider(s) | D. Helmick, L. Matthies |
| Integration | Level 2 | Institution | JPL |
| Algorithm | SMART pose reconfiguration | Provider(s) | T. Huntsberger |
| Integration | Level 0 | Institution | JPL |
Manipulation
| Algorithm | Generic forward kinematics - serial | Provider(s) | A. Wright, I. Nesnas |
| Integration | Level 4 | Institution | JPL |
| Algorithm | Specialized forward kinematics | Provider(s) | I. Nesnas, H. Das |
| Integration | Level 4 | Institution | JPL |
| Algorithm | Specialized inverse kinematics | Provider(s) | I. Nesnas, H. Das |
| Integration | Level 4 | Institution | JPL |
| Algorithm | EPEC (End-Effector Position Error Compensation) | Provider(s) | M. Bajracharya, P. Backes |
| Integration | Level 1 | Institution | JPL |
| Algorithm | HIPS (Hybrid Image Plane/Stereo) Manipulation | Provider(s) | M. Bajracharya, P. Backes, E. Baumgartner |
| Integration | Level 1 | Institution | JPL |
Motion Control
| Algorithm | Trajectory generator (1D) | Provider(s) | CLARAty Team |
| Integration | Level 1 | Institution | JPL |
| Algorithm | PID controller | Provider(s) | CLARAty Team |
| Integration | Level 1 | Institution | JPL |
Sun Sensing
| Algorithm | Ephermis calculator | Provider(s) | Spice Team |
| Integration | Level 1 | Institution | JPL |
| Algorithm | Absolute heading estimator | Provider(s) | R. Petras, A. Diaz Calderon. |
| Integration | Level 3 | Institution | JPL |
Science
| Algorithm | EASIR terrain geoloical classification | Provider(s) | T. Roush |
| Integration | Level 2 | Institution | ARC |
| Algorithm | Vibration-based terrain classification | Provider(s) | S. Dubowsky |
| Integration | Level 0 | Institution | JPL |
| Algorithm | OASIS rock finder | Provider(s) | A. Castano, B. Castano |
| Integration | Level 3 | Institution | JPL |
Infrastructure
| Algorithm | Coordinate transforms (homogeneous and quaternions) | Provider(s) | CLARAty Team |
| Integration | Level 4/R | Institution | JPL |
| Algorithm | Linear algebra and minimization algorithms | Provider(s) | CLARAty Team |
| Integration | Level 4/R | Institution | JPL |
| Algorithm | Bayes networks | Provider(s) | C. Glymour, J. Ramsey |
| Integration | Level 1 | Institution | CMU |
Diagnosis
| Algorithm | Particle filter health monitoring | Provider(s) | R. Deardren |
| Integration | Level 0 | Institution | ARC |
Decision Layer
| Algorithm | ASPEN/CASPER Planner | Provider(s) | S. Chien, T. Estlin, D. Gaines |
| Integration | Level 0 | Institution | JPL |
| Algorithm | Task description language (TDL) | Provider(s) | R. Simmons |
| Integration | Level 3 | Institution | CMU |
| Algorithm | PLEXIL Language PLEXIL Universal Executive |
Provider(s) | V. Verma, A. Jonsson, T. Estlin, R. Simmons, C. Pascareanu, M. Dalal, M. Iatauro, C. Fry, R. Harris |
| Integration | Level 1 | Institution | ARC, JPL, CMU |
Integrated Capability
| Algorithm | Simultaneous GESTALT, visual target tracker and visual odometry | Provider(s) | R. Petras |
| Integration | Level 2, Level 4, Level 3 | Institution | JPL |
| Algorithm | Single Cycle Instrument Placement (SCIP) | Provider(s) | R. Madison |
| Integration | Level 2, Level 4, Level 3 | Institution | JPL |
| Algorithm | Visual odometry locomotor state estimator | Provider(s) | A.E. Johnson, Y. Cheng, L. Matthies |
| Integration | Level 3 | Institution | JPL |