System for Uncertainty, Risk, and Feature Assessment of Surfaces (SURFAS) Holistic Scene Analysis

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SURFAS, given the above combination of inputs for a particular vehicle, is informed by expertise of mission designers to fuse relevant data together in order to create a holistic map of the scene, combining all information that the agent can perceive about that scene; e.g. the hyperspectral imager may autonomously tag identify an area of geological interest to the mission, Using data from a LiDAR scan, the robot can plan a path to reach the area. That path can be modified to avoid a patch of soil that the ground penetrating radar identifies as soft an...