{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T15:56:42Z","timestamp":1758815802280,"version":"3.38.0"},"reference-count":26,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[1999,7,1]],"date-time":"1999-07-01T00:00:00Z","timestamp":930787200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1999,7]]},"abstract":"<jats:p> Upcoming missions to the surface of Mars will use mobile robots to traverse long distances from the landing site. To prepare for these missions, the prototype rover, Rocky 7, has been tested in desert field trials conducted with a team of planetary scientists. While several new capabilities have been demonstrated, foremost among these was sun-sensor-based traversal of natural terrain totaling a distance of 1 km. This paper describes navigation results obtained in the field tests, where cross-track error was only 6% of the distance traveled. Comparison with previous results of other planetary rover systems shows this to be a significant improvement. Methods for further improvement are also discussed. <\/jats:p>","DOI":"10.1177\/02783649922066493","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T06:59:46Z","timestamp":1058597986000},"page":"669-683","source":"Crossref","is-referenced-by-count":35,"title":["Navigation Results from Desert Field Tests of the Rocky 7 Mars Rover Prototype"],"prefix":"10.1177","volume":"18","author":[{"given":"Richard","family":"Volpe","sequence":"first","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena,                         California 91109, USA"}]}],"member":"179","published-online":{"date-parts":[[1999,7,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1016\/0032-0633(95)00107-7"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1029\/98JE01768"},{"key":"atypb3","unstructured":"Backes, P., Tso, K., and Tharp, C. 1998 (May, Leuven, Belgium). Mars Pathfinder mission Internet-based operation using WITS . Proc. of the IEEE Intl. Conf. on Robot. and Automat. Washington, DC: IEEE."},{"key":"atypb4","unstructured":"Balaram, J. Forthcoming. Kinematic state estimation for a Mars rover. Robotica, special issue on Intelligent Autonomous Vehicles."},{"key":"atypb5","unstructured":"Bickler, D. 1992 (September 28\u20133O). A new family of JPL planetary surface vehicles. In Missions, Technologies, and Design of Planetary Mobile Vehicles. Toulouse, France: Cepadues-Editions , pp. 301\u2013306."},{"key":"atypb6","doi-asserted-by":"crossref","unstructured":"Brooks, R. 1986 (March). A robust layered control system for a mobile robot . IEEE J. Robot. Automat. 2(1).","DOI":"10.1109\/JRA.1986.1087032"},{"key":"atypb7","unstructured":"Cozman, F., and Krotkov, E. 1995 (May, Nice, France). Robot localization using a computer vision sextant . Proc. of the IEEE Intl. Conf. on Robot. and Automat. Washington, DC: IEEE."},{"key":"atypb8","unstructured":"Cozman, F., and Krotkov, E. 1997 (April, Albuquerque, NM). Automatic mountain detection and pose estimation for teleoperation of lunar rovers . Proc. of the IEEE Intl. Conf. on Robot. and Automat. Washington, DC: IEEE."},{"key":"atypb9","doi-asserted-by":"crossref","unstructured":"Durrant-Whyte, H. P. 1986 (April). Consistent integration and propagation of disparate sensor observations. Proc. of the IEEE Intl. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE , pp. 1464\u20131469.","DOI":"10.1109\/ROBOT.1986.1087489"},{"key":"atypb10","unstructured":"Fraden, J. 1993. AIP Handbook of Modern Sensors: Physics, Designs, and Applications. 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Phase II Final Report 959855, Lockheed Martin Astronautics, Denver, CO."},{"key":"atypb18","unstructured":"Schneider, S., Chen, V., and Pardo-Castellote, G. 1994 (March 20\u201324, Houston, TX). Controll Shell: A real-time software framework . NASA Conference Publication 3251, Washington, DCWarrendale, PA: Society of Automotive Engineers."},{"key":"atypb19","unstructured":"Volpe, R. 1998 (June). Sun-sensor heading determination for Mars rover navigation. Internal Engineering Memorandum 3453\u201398-VO1, Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA."},{"key":"atypb20","unstructured":"Volpe, R., Balaram, J., Ohm, T., and Ivlev, R. 1996 (November 4\u20138, Osaka, Japan). The Rocky 7 Mars rover prototype . Proc. of the IEEE\/RSJ Intl. Conf. on Robots and Sys. (IROS). Washington, DC: IEEE."},{"key":"atypb21","unstructured":"Volpe, R., Ohm, T., Petras, R., Welch, R., Balaram, J., Ivlev, R. 1997a (Sept. 7\u201311, Grenoble, France). A prototype manipulation system for Mars rover science operations . Proc. of the IEEE\/RSJ Intl. Conf. on Robots and Sys. (IROS). Washington, DC: IEEE."},{"key":"atypb22","doi-asserted-by":"crossref","unstructured":"Volpe, R., Balaram, J., Ohm, T., Ivlev, R. 1997b. Rocky 7: A next-generation Mars rover prototype . J. Adv. Robot. 11(4): 341\u2013358 .","DOI":"10.1163\/156855397X00362"},{"key":"atypb23","unstructured":"Volpe, R., Ohm, T., Petras, R., Welch, R., Balaram, J., Ivlev, R. 1998. Mobile robot manipulators for Mars science . Space Tech. J. 17(3\/4): 219\u2013229 ."},{"key":"atypb24","unstructured":"Wertz, J. (ed.) 1980. Spacecraft Attitude Determination and Control. Reidel ."},{"key":"atypb25","doi-asserted-by":"crossref","unstructured":"Whittaker, W., Bapna, D., Maimone, M., and Rollins, E. 1997 (July, Tokyo). Atacama desert trek: A planetary analog field experiment . 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