The National Aeronautics and Space Administration (NASA) is being challenged to perform more frequent and intensive space-exploration missions at greatly reduced cost. Nowhere is this challenge more acute than among robotic planetary exploration missions that the Jet Propulsion Laboratory (JPL) conducts for NASA. This article describes recent and ongoing work on spacecraft autonomy and ground systems that builds on a legacy of existing success at JPL applying AI techniques to challenging computational problems in planning and scheduling, real-time monitoring and control, scientific data analysis, and design automation.

The National Aeronautics and Space Administration (NASA) is being challenged to perform more frequent and intensive space-exploration missions at greatly reduced cost. Nowhere is this challenge more acute than among robotic planetary exploration missions that the Jet Propulsion Laboratory (JPL) conducts for NASA. This article describes recent and ongoing work on spacecraft autonomy and ground systems that builds on a legacy of existing success at JPL applying AI techniques to challenging computational problems in planning and scheduling, real-time monitoring and control, scientific data analysis, and design automation.

Several parallel analogue algorithms, based upon mean field theory (MFT) approximations to an underlying statistical mechanics formulation, and requiring an externally prescribed annealing schedule, now exist for finding approximate solutions to difficult combinatorial optimisation problems. They have been applied to the Travelling Salesman Problem (TSP), as well as to various issues in computational vision and cluster analysis. I show here that any given MFT algorithm can be combined in a natural way with notions from the areas of constrained optimisation and adaptive simulated annealing to yield a single homogenous and efficient parallel relaxation technique, for which an externally prescribed annealing schedule is no longer required. The results of numerical simulations on 50-city and 100-city TSP problems are presented, which show that the ensuing algorithms are typically an order of magnitude faster than the MFT algorithms alone, and which also show, on occasion, superior solutions as well. 1 INTRODUCTION Several promising parallel analogue algorithms, which can be loosely described by the term "deterministic annealing", or "mean field theory (MFT) annealing", have *also at Theoretical Division and Center for Nonlinear Studies, MSB213, Los Alamos National Laboratory, Los Alamos, NM 87545.

Several parallel analogue algorithms, based upon mean field theory (MFT) approximations to an underlying statistical mechanics formulation, and requiring anexternally prescribed annealing schedule, now exist for finding approximate solutions to difficult combinatorial optimisation problems. They have been applied to the Travelling Salesman Problem (TSP), as well as to various issues in computational vision and cluster analysis. I show here that any given MFT algorithm can be combined in a natural way with notions from the areas of constrained optimisation and adaptive simulated annealing to yield a single homogenous and efficient parallel relaxation technique,for which an externally prescribed annealing schedule is no longer required. The results of numerical simulations on 50-city and 100-city TSP problems are presented, which show that the ensuing algorithms aretypically an order of magnitude faster than the MFT algorithms alone, and which also show, on occasion, superior solutions as well. 1 INTRODUCTION Several promising parallel analogue algorithms, which can be loosely described by the term "deterministic annealing", or "mean field theory (MFT) annealing", have *also at Theoretical Division and Center for Nonlinear Studies, MSB213, Los Alamos National Laboratory, Los Alamos, NM 87545.