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Adaptive sampling for rover x-ray lithochemistry

Planetary rovers arriving at a new site may only have time to deploy contact instruments at a few selected locations before the mission must progress to the next locale. Since the number of command cycles is limited, operators typically script entire measurement sequences in advance. Onboard data analysis can improve the quality of these measurements by reacting immediately to collected data and optimizing the measurement sequence on the fly. Here we present a method by which a smart arm-mounted contact instrument can improve the efficiency of transect and raster patterns, selectively sampling from distinctive materials instead of distributing its time budget evenly across repetitive points. We focus on the specific case of contact measurements for x-ray fluorescence spectroscopy. Simulated and laboratory experiments demonstrate significant improvements in science data yield.