Casper: space exploration through continuous planning

The most interesting places can often be the most dangerous ones, and space exploration is no exception. The dynamic surfaces of comets, the turbulent atmospheres of the gas giants, and the hypothesized subsurface ocean of Europa all call for exploration, and are all very risky for on-site robotic explorers. The Casper (continuous activity, scheduling, planning, execution, and replanning) software system provides critical reasoning capabilities to robotic explorers. To show how it works, we first describe Casper's internal workings and then look at the Three Corner Sat and the Autonomous Sciencecraft Constellation missions, highlighting Casper's contributions to each.