Demonstration of Autonomous Sampling Techniques in an Icy Moon Terrestrial Analog

A collection of functional autonomy behaviors to allow unsupervised science sample selection and collection on Icy Moons such as Europa or Enceladus was demonstrated on the terrestrial analog of Matanuska Glacier, AK, USA. Candidate sample sites are autonomously identified within the workspace, assessed for feasibility of successful collection, and surface material excavated while both preventing and responding to tool faults arising during interaction with the environment. A description of the system and lessons learned from the field application are discussed with respect to how they may impact potential future surface sampling missions to Icy Moons.