Cooperative Telerobotics Enabled by Software Radio



Cooperative Telerobotics Enabled by Software Radio

1. Project Description

The scope and aim of the proposed project is to develop a simulated interplanetary exploration environment in which a laboratory-based heterogeneous colony of cooperative robots interact, enabled by software radio. Communication latency will be introduced artificially to mimic time delays consistent with interplanetary missions. Members of the colony will be use a variety of communication modes in order to simulate a realistic scenario useful to NASA in which communicating entities most likely will not be equipped with identical transceivers.

We propose to build on our current expertise in the areas of software radio and cooperative robotics to develop a cooperative autonomous assembly and exploration system in support of NASA exploration goals in the H&RT program. It is envisioned that the communication infrastructure based on software radio will enable "plug and play" functionality, so that insertion or deletion of specific communicating entities into the communication scheme will be transparent.

The specific H&RT Formulation (Section 6.4.2) Strategic Technical Challenges addressed by this proposal are:

1. Robotic Networks

2. Modularity

3. Autonomy

4. Margins and Redundancy

5. Data-Rich Virtual Presence

Project Goals:

Goal 1: Establish an interactive network (colony) of at least three and potentially as many as twenty robots equipped with software radio communications capability

Goal 2: Identify key features and protocol necessary to mimic the interplanetary exploration environment from a communications standpoint as realistically as possible.

Goal 3: Use the testbed to develop and refine algorithms necessary to eventually accomplish specific tasks, such as assembly of mechanical parts, spacecraft docking, surface exploration, and others as suggested by NASA sponsors.

H&RT Goals and Objectives Supported:

1. Space Backbone Networks and Space Wide Area Networks (Communications, Computing, Electronics, and Imaging - CCEI). This project will enable the interaction of numerous autonomous entities over both short distances and interplanetary distances.

2. Multi-Agent Teaming (Software, Intelligent Systems, and Modeling - SISM). This project will enable multiple entities to cooperate on tasks over distances ranging from short range (a few meters) to interplanetary.

2. Technology Maturation Approach, Challenges, and Teaming:

This project will begin at a TRL of 2 (Concept formulation) and end at TRL 4 (Laboratory breadboard). The development of the proposed robot colony will begin with a paper study to identify the key components required in consultation with the team members and NASA sponsors. Key expected obstacles include:

(1) Identifying the operating frequency band(s) and modulation methods most suited to the target application

(2) Implementing the necessary electronics in the limited size, weight, and cost constraints necessary for the laboratory testbed environment.

(3) Adapting existing protocols to accommodate latencies varying from microseconds to hours due to the need to interact over distances ranging from a few meters to interplanetary distances.

Technology Maturation:

The most likely road to technology maturation is through the Advanced Space Operations Technology (ASO) program element, although there is considerable potential through the Lunar and Planetary Surface Operations (LPSO) program element as well. In particular, the proposed research can contribute to ASO in the areas of in-space assembly, autonomy, reconfigurability, and data-rich virtual presence, and can contribute to LPSO in the areas of intelligent and agile surface mobility systems, surface manufacturing and construction systems, and surface environmental management.

Teaming:

The project will be directed by Dr. Thaddeus Roppel (Lead, Auburn University Sensor Fusion Laboratory). Dr. Roppel and Dr. Agrawal (Co-Lead, Wireless Research Center, Auburn University) will be primarily involved with software radio implementation, including firmware and software development. Dr. Wilson (Co-Lead, U. of Washington) will contribute expertise from the area of distributed architecture implementation, both software and hardware, as well as robotic systems. Dr. Bradley (Co-Lead, NASA LaRC) will contribute in the area of robotics, telerobotics, NASA goals, and NASA policies and procedures.

3. Impact on Future Exploration Systems:

Exploration systems of the future will undoubtedly involve multiple vehicles fanning out over planet surfaces, together with numerous manned and unmanned entities in orbit or in transit between planets. In any conceivable scenario, it will be of the utmost importance for each entity to have the ability to communicate with all or a subset of the others with high reliability. Furthermore, tasks such as exploration, assembly, and inspection will need to be accomplished through cooperation and will require highly flexible "plug and play" communication systems as proposed here.

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