First 210 solar days of Mars 2020 Perseverance Robotic Operations - Mobility, Robotic Arm, Sampling, and Helicopter

This paper includes a summary, lessons learned, and upcoming plans from the first 210 Mars solar days (sols) of NASA's Mars 2020 Perseverance rover mission. The focus of the paper is on Robotic Operations, which is the team with the primary responsibility for strategic planning, uplink commanding and downlink analysis for rover mobility and navigation, robotic arm operation, the sampling and caching capability including coring, the adaptive caching assembly and the 2nd sample handling robotic arm, and the interface to the Mars helicopter Ingenuity. As of Sol 210 the rover has driven 2663.65 meters, executed 20764 robotic arm and sampling commands, and has successfully completed 13 helicopter flights covering 2382 meters horizontal distance. It includes Operations Readiness Tests executed in preparation for landing, landing and initial checkouts, strategic route planning to the science destination and waypoints, and surface checkout of all of the robotics capabilities of the rover. It also discusses the strategic planning and tactical agility needed to interleave science investigations and the technology demonstration of the Mars helicopter flights where a minimum distance had to be maintained between the rover and helicopter during flights. It discusses the challenges with planning robotic operations and addressing anomalies with the larger uncertainty present during early mission operations. It also discusses the impact on robotic operations from lessons incorporated from previous missions.