Developing Autonomous Precision Landing and Hazard Avoidance Technology from Concepts through Terrestrially Flight-Tested Prototypes

The paper provides a projectand systems-level overview of the ALHAT sensor systems and techniques from paper concepts through functioning prototypes integrated onto the Morpheus terrestrial rocket-propulsion testbed for flight testing. The paper highlights the coordination and teaming of multiple NASA centers throughout the development cycle, the phases of design and field/flight testing that matured the ALHAT system, and the forward pathway for infusion of ALHAT into spaceflight.