This task will develop four component robotics technologies that will enable precise automated placement of an arm end-effector (sampling tool or instrument) on a mobile platform. These technologies are critical in order to autonomously place a rover and its arm end-effector, which is necessary for science and Lunar construction operations (particularly when communication is limited) and Mars operations (particularly when surface time is critical). The technologies will be developed and integrated into the CLARAty robotics environment; along with existing rover navigation, target tracking, and camera handoff technologies, the task will contribute to a demonstration of single-command instrument placement.
