A document poses, and suggests a program of research for answering, questions of how to achieve autonomous operation of herds of cooperative robots to be used in exploration and/or colonization of remote planets. In a typical scenario, a flock of mobile sensory robots would be deployed in a previously unexplored region, one of the robots would be designated the leader, and the leader would issue commands to move the robots to different locations or aim sensors at different targets to maximize scientific return. It would be necessary to provide for this hierarchical, cooperative behavior even in the face of such unpredictable factors as terrain obstacles. A potential-fields approach is proposed as a theoretical basis for developing methods of autonomous command and guidance of a herd. A survival-of-the-fittest approach is suggested as a theoretical basis for selection, mutation, and adaptation of a description of (1) the body, joints, sensors, actuators, and control computer of each robot, and (2) the connectivity of each robot with the rest of the herd, such that the herd could be regarded as consisting of a set of artificial creatures that evolve to adapt to a previously unknown environment. A distributed simulation environment has been developed to test the proposed approaches in the Titan environment. One blimp guides three surface sondes via a potential field approach. The results of the simulation demonstrate that the method used for control is feasible, even if significant uncertainty exists in the dynamics and environmental models, and that the control architecture provides the autonomy needed to enable surface science data collection.
This work was done by Marco B. Quadrelli of Caltech for NASA’s Jet Propulsion Laboratory. For further information, access the Technical Support Package (TSP) free on-line at www.techbriefs.com/tsp under the Software category.
This software is available for commercial licensing. Please contact Karina Edmonds of the California Institute of Technology at (818) 393-2827. Refer to NPO-40723.
This Brief includes a Technical Support Package (TSP).
Controlling Herds of Cooperative Robots
(reference NPO-40723) is currently available for download from the TSP library.
Don't have an account?
Overview
The document titled "Controlling Herds of Cooperative Robots" presents a comprehensive overview of research focused on enhancing the autonomy and cooperative behavior of robotic systems for planetary exploration, particularly in the challenging environments of Titan, Saturn's largest moon. Authored by Dr. Marco Quadrelli, the work emphasizes the development of algorithms and techniques for the cooperative, distributed sensing and control of mobile robots, including rovers, underwater vehicles, and balloons.
The primary objective of the research is to demonstrate active cooperation among these robotic entities to achieve a common goal while maximizing scientific data collection and minimizing hazards. The document outlines a novel paradigm for enabling cooperative behavior among a group of data-gathering vehicles operating in unknown environments. Key challenges addressed include position knowledge, distributed computing, and the creation of evolvable architectures.
The proposed approach involves the use of potential fields for commanding the robotic herd, which has shown feasibility in simulations. The document details various components of the mission profile, including phases such as entry, site search, and deployment, which are critical for successful operations on Titan. It also discusses the integration of blimps, sondes, and cooperative systems into simulation architectures that allow for realistic design and performance metric quantification.
A significant aspect of the research is the proposal of a Titan-based GPS-like environment, which would facilitate robust direct-to-Earth communication and provide inertial position knowledge for surface systems. This innovation is crucial for ensuring effective navigation and coordination among the robotic units.
The document serves as a technical support package under NASA's Commercial Technology Program, aiming to disseminate aerospace-related developments with broader technological, scientific, or commercial applications. It highlights the potential of cooperative sensor herds as a critical technology for autonomous planetary sampling, paving the way for future exploration missions.
In summary, this document encapsulates a forward-thinking approach to robotic cooperation in extraterrestrial environments, showcasing the potential for enhanced scientific returns through innovative control strategies and collaborative technologies.
