

![0_image_0.png](0_image_0.png)

Finally, the generated plan has been further validated by simulating its execution on the rover model. The graphs in Figure 3 show the evolution of some important rover state variables during the simulation, which ends correctly after d final  = 2 m . In particular, we can compare the battery discharge graph with the rover speed and acceleration during the entire course.  It is worth noting that, in the highlighted cooling phase, the battery discharge rate is higher even if the vehicle is stopped, due to the instruments activation. Moreover, the peak speed of the rover is low enough to not exceed v max even in the presence of approximation errors up to 0.1, which is our discretisation threshold. Therefore, this is a completely safe plan.

![0_image_1.png](0_image_1.png)

requirements, i.e., the value of f in Equation 1, and the value of the cost function C(π) during the plan evolution. The graph clearly shows that, as required, the plan cost is very tightly related to the energy consumption, since the battery charge is a critical resource, whereas the time has a