This paper, authored by Worcester Polytechnic Institute's (WPI) AERO team, describes the navigation architecture and cascade classifier for a sample search and identification on a space exploration rover.
The systems discussed are implemented on AERO (Autonomous Exploration Rover) and were designed by a team from the Robotics Engineering Program at WPI. AERO participated in the NASA Sample Return Robot Centennial Challenge in 2013. One of the AERO's main subtasks included navigating and localizing within a large outdoor area. For this, AERO used KVH's high performance inertial measurement unit, the 1750 IMU, as part of its inertial navigation system. Read the paper to learn more.