Abstract
A Mars rover is a complex system, and driving one is a complex endeavor. Rover drivers must be intimately familiar with the hardware and software of the mobility system and of the robotic arm. They must rapidly assess threats in the terrain, then creatively combine their knowledge of the vehicle and its environment to achieve each day's science and engineering objectives. To help the Mars Exploration Rover project's rover drivers meet their goals, the software we developed to drive the rovers - the Rover Sequencing and Visualization Program, or RSVP - combines two representations of command sequences, one textual and one using three-dimensional graphics. Changes to one representation are instantly reflected in the other, and the combination's advantages exceed the mere sum of the parts: the different representations offer different levels of abstraction, engage different areas of the driver's brain, and complement each other's strengths. This combination plays a crucial role in simplifying a complex feat of interplanetary exploration
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