Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots remain an open challenge due to the proximity of the sensor payload to the ground coupled with a limited field of view. To address this issue, we propose Blind-motion with Intermittently Scheduled Scans (BLISS) which combines proprioception-only mobility with intermittent scans to be resilient against both localization failures and collision risks. BLISS is formulated as an integrated Task and Motion Planning (TAMP) problem that leads to a Chance-Constrained Hybrid Partially Observable Markov Decision Process (CC-HPOMDP), known to be computationally intractable due to the curse of history. Our novelty lies in reformulating CC-HPOMDP as a tractable, convex Mixed Integer Linear Program. This allows us to solve BLISS-TAMP significantly faster and jointly derive optimal task-motion plans. Simulations and hardware experiments on the EELS snake robot show our method achieves over an order of magnitude computational improvement compared to state-of-the-art POMDP planners and $>$ 50\% better navigation time optimality versus classical two-stage planners.

Abstract--Interstellar objects (ISOs) are fascinating and underexplored be best implemented using small spacecraft. The unification of celestial objects, providing physical laboratories to ISO detection, orbit characterization, and cruise trajectory with understand the formation of our solar system and probe the learning-based G&C algorithms for accurate low-V flybys composition and properties of material formed in exoplanetary represents a nearly end-to-end simulation and assessment of a systems. The recent Planetary Science and Astrobiology mission to visit an ISO. This process is simulated using JPL's Decadal Survey emphasized that a dedicated mission to an interstellar SmallSat Development Testbed, which determines the feasibility object would have high scientific value. A dedicated ISOs with varying characteristics, including a discussion of state spacecraft could resolve the shape, rotation properties, surface covariance estimation over the course of a cruise, handoffs from morphology, and composition of an asteroid-like ISO. Mass traditional navigation approaches to novel autonomous navigation spectroscopy techniques can probe the gas composition of a for fast flyby regimes, and overall recommendations about comet-like ISO.

A close partnership between people and partially autonomous machines has enabled decades of space exploration. But to further expand our horizons, our systems must become more capable. Increasing the nature and degree of autonomy - allowing our systems to make and act on their own decisions as directed by mission teams - enables new science capabilities and enhances science return. The 2011 Planetary Science Decadal Survey (PSDS) and on-going pre-Decadal mission studies have identified increased autonomy as a core technology required for future missions. However, even as scientific discovery has necessitated the development of autonomous systems and past flight demonstrations have been successful, institutional barriers have limited its maturation and infusion on existing planetary missions. Consequently, the authors and endorsers of this paper recommend that new programmatic pathways be developed to infuse autonomy, infrastructure for support autonomous systems be invested in, new practices be adopted, and the cost-saving value of autonomy for operations be studied.