[Submitted on 31 Jul 2023 (v1), last revised 21 Oct 2023 (this version, v2)]
Abstract:The success of a multi-kilometre drive by a solar-powered rover at the lunar south pole depends upon careful planning in space and time due to highly dynamic solar illumination conditions. An additional challenge is that the rover may be subject to random faults that can temporarily delay long-range traverses. The majority of existing global spatiotemporal planners assume a deterministic rover-environment model and do not account for random fa
