{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T05:56:23Z","timestamp":1780466183143,"version":"3.54.1"},"reference-count":45,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"80","content-domain":{"domain":["www.science.org"],"crossmark-restriction":true},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2023,7,12]]},"abstract":"<jats:p>NASA\u2019s Perseverance rover uses robotic autonomy to achieve its mission goals on Mars. Its self-driving autonomous navigation system (AutoNav) has been used to evaluate 88% of the 17.7-kilometer distance traveled during its first Mars year of operation. Previously, the maximum total autonomous distance evaluated was 2.4 kilometers by the Opportunity rover during its 14-year lifetime. AutoNav has set multiple planetary rover records, including the greatest distance driven without human review (699.9 meters) and the greatest single-day drive distance (347.7 meters). The Autonomous Exploration for Gathering Increased Science (AEGIS) system analyzes wide-angle imagery onboard to autonomously select targets for observations by the SuperCam instrument, a multimode sensor suite capable of millimeter-scale geochemical and mineralogical analysis. AEGIS enables observations of scientifically interesting targets during or immediately after long drives without the need for ground communication. OnBoard Planner (OBP) is a scheduling capability planned for operational use in September 2023 that has the potential to reduce energy usage by up to 20% and complete drive and arm-contact science campaigns in 25% fewer days on Mars. This paper presents an overview of the AutoNav, AEGIS, and OBP capabilities used on Perseverance.<\/jats:p>","DOI":"10.1126\/scirobotics.adi3099","type":"journal-article","created":{"date-parts":[[2023,7,26]],"date-time":"2023-07-26T18:00:40Z","timestamp":1690394440000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":111,"title":["Autonomous robotics is driving Perseverance rover\u2019s progress on Mars"],"prefix":"10.1126","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8176-1228","authenticated-orcid":true,"given":"Vandi","family":"Verma","sequence":"first","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6046-6967","authenticated-orcid":true,"given":"Mark W.","family":"Maimone","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8853-9136","authenticated-orcid":true,"given":"Daniel M.","family":"Gaines","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9031-5238","authenticated-orcid":true,"given":"Raymond","family":"Francis","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0411-1205","authenticated-orcid":true,"given":"Tara A.","family":"Estlin","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stephen R.","family":"Kuhn","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-1293-1353","authenticated-orcid":true,"given":"Gregg R.","family":"Rabideau","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1023-9480","authenticated-orcid":true,"given":"Steve A.","family":"Chien","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-3189-6190","authenticated-orcid":true,"given":"Michael M.","family":"McHenry","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Evan J.","family":"Graser","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6592-6566","authenticated-orcid":true,"given":"Arturo L.","family":"Rankin","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ellen R.","family":"Thiel","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"crossref","unstructured":"A. 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