Exponentially-declining launch costs have led to an explosion of inexpensive satellites launched to space, often equipped with off-the-shelf chips. These chips, however, lack hardware radiation protection, leaving them vulnerable to space radiation. We thus design Radshield, a software system protecting against the two most ubiquitous and costly radiation fault scenarios: (a) radiation-induced short-circuits that lead to permanent hardware failure; and (b) radiation-induced transient charges that result in single-bit silent data corruption (SDC). Radshield counters these failure scenarios with two components. First, it uses a short-circuit detector that can detect tiny increases in the device's current draw by estimating the normal current draw when resource utilization is low. Second, it duplicates the execution of spacecraft workloads in a CPU and memory-efficient manner, and catches SDCs even when they affect the CPU's pipeline or cache. In our experiments, we show Radshield is very effective at preventing both errors, and is 1.4-35.5× more power-efficient than the state-of-the-art protection mechanisms in detecting SDC. Radshield is deployed on missions in low-earth orbit and in deep space.

To achieve longer driving distances, planetary robotics missions require accurate localization to counteract position uncertainty. Freedom and precision in driving allows scientists to reach and study sites of interest. Typically, rover global localization has been performed manually by humans, which is accurate but time-consuming as data is relayed between planets. This paper describes a global localization algorithm that is run onboard the Perseverance Mars rover. Our approach matches rover images to orbital maps using a modified census transform to achieve sub-meter accurate, near-human localization performance on a real dataset of 264 Mars rover panoramas. The proposed solution has also been successfully executed on the Perseverance Mars Rover, demonstrating the practicality of our approach.

Due to their low cost and the need to run computationally-intensive algorithms locally, satellites and spacecraft are increasingly employing off-the-shelf computing hardware. However, hardware in space is exposed to significantly higher amounts of radiation than on Earth, potentially destroying the hardware or causing it to output incorrect results. We envision that solely using software fault tolerance techniques, commodity hardware operating in space can achieve fault tolerance equivalent or close to expensive and slow radiation-hardened hardware. To achieve this goal, we need to address the two main radiation fault scenarios: hardware overheating and silent data corruption. We provide preliminary data on the effects of these errors, and introduce a set of techniques to address them. Enabling the full use of commodity hardware in space holds the promise of improving the compute capabilities and cost effectiveness of low-earth orbit satellites by orders of magnitude.

This paper presents a model based approach to autonomous dexterous manipulation, developed as part of the DARPA Autonomous Robotic Manipulation (ARM) program. The developed autonomy system uses robot, object, and environment models to identify and localize objects, and well as plan and execute required manipulation tasks. Deliberate interaction with objects and the environment increases system knowledge about the combined robot and environmental state, enabling high precision tasks such as key insertion to be performed in a consistent framework. This approach has been demonstrated across a wide range of manipulation tasks, and in independent DARPA testing archived the most successfully completed tasks with the fastest average task execution of any evaluated team.