Abstract:

In this paper we present the work done at the Canadian
Space Agency on the problem of planetary exploration. One
of the main goals is the over-the-horizon navigation of a mobile
robot on a Mars like environment. A key component is
the ability to plan a path using maps of different resolutions
and also to refine/replan when more data becomes available.
Our algorithms on path planning and path segmentation are
presented together with results from two years of experiments
in realistic conditions.