ALEX ELLERy1*, DAVE BARNES2, RODNEY BUCKLAND3, CHRIS WELCH1, JAMES GARRY4, JOHN ZARNECKI4, JONATHAN GEBBIE5, ASHLEY GREEN3, MARK SMITH6, DAVID HALL7, COLIN MCINNES8, ALAN WINFIELD9, ULRICH NEHMZOW1o AND ANDREW BALL4. 1. School of Engineering, Kingston University, Friars Avenue, Roehampton Vale, London, SW15 3DW, UK. * Email: a.ellery@kingston.ac.uk 2. Department of Computer Science, Aberystwyth University of Wales, Aberystwyth, Dyfed, SY23 3BZ, UK. 3. Department of Design & Innovation, Open University, Walton Hall, Milton Keynes, MK7 6AA, UK. 4. Planetary & Space Sciences Research Institute, Open University, Walton Hall, Milton Keynes, MK7 6AA, UK. 5. Space & Defence Division, Logica, 75 Hampstead Road, London, NW1 2PL, UK. . 6. Earth Observation, Navigation & Science Directorate, Astrium Ltd, Gunnels Wood Road, Stevenage, Hertfordshire, SG1 2AS, UK. 7. British National Space Centre, 151 Buckingham Palace Road, London, SW1W 9SS, UK. 8. Department ofAerospace Engineering, University of Glasgow, G12 800, UK. 9. Intelligent Autonomous Systems Laboratory, University of West of Engand, Coldharbour Lane, Bristol, , BS16 10Y, UK. 10. Department of Computer Science, University of Essex, Wivenhoe Park, Colchester, Essex, C043S0, UK.