Functional Autonomy Challenges in Sampling for an Europa Lander Mission

We present a baseline approach to Functional Autonomy for the purpose of conducting excavation and sampling behaviors in a proposed Europa Lander mission. Aspects of the problems of site selection, excavation progress tracking, and fault identification are related; with particular emphasis on parameters peculiar to an icy moon environment. First pass approaches to addressing these challenges are presented in isolation, while motivating the current development goal of producing a general Functional Autonomy architecture that allows state estimation, fault detection, isolation, & recovery (FDIR), and adaptive behaviors to be formulated in concert.