title: Autonomous spacecraft landing through human pre-attentive vision.
abstract: In this work, we exploit a computational model of human pre-attentive vision to guide the descent of a spacecraft on extraterrestrial bodies. Providing the spacecraft with high degrees of autonomy is a challenge for future space missions. Up to present, major effort in this research field has been concentrated in hazard avoidance algorithms and landmark detection, often by reference to a priori maps, ranked by scientists according to specific scientific criteria. Here, we present a bio-inspired approach based on the human ability to quickly select intrinsically salient targets in the visual scene; this ability is fundamental for fast decision-making processes in unpredictable and unknown circumstances. The proposed system integrates a simple model of the spacecraft and optimality principles which guarantee minimum fuel consumption during the landing procedure; detected salient sites are used for retargeting the spacecraft trajectory, under safety and reachability conditions. We compare the decisions taken by the proposed algorithm with that of a number of human subjects tested under the same conditions. Our results show how the developed algorithm is indistinguishable from the human subjects with respect to areas, occurrence and timing of the retargeting.
authors.affiliation: Advanced Concepts Team, European Space Agency, Noordwijk, The Netherlands.
authors.forename: Giuseppina
authors.initials: G
authors.lastname: Schiavone
authors.forename: Dario
authors.initials: D
authors.lastname: Izzo
authors.forename: Luís F
authors.initials: LF
authors.lastname: Simões
authors.forename: Guido C H E
authors.initials: GC
authors.lastname: de Croon
mesh_terms: D001185:Artificial Intelligence; D001288:Attention / Q000502:physiology*; D032701:Biomimetics / Q000379:methods*; D003198:Computer Simulation; D008954:Models, Biological; D010363:Pattern Recognition, Automated / Q000379:methods*; D010364:Pattern Recognition, Visual / Q000502:physiology*; D012371:Robotics / Q000379:methods*; D018531:Spacecraft; D014796:Visual Perception / Q000502:physiology*