In January 2004, NASA established a long-term program to extend human presence across the solar system, a primary goal of which will be to establish a human presence on the moon no later than 2020, as a precursor to human exploration of Mars. A central concept of this vision is that future space exploration activities must rely on human and robotic capabilities combined in order to achieve a long-term and well-orchestrated campaign of space exploration. Thus, in order to meet these technological challenges, systems which support safe human supervision of fleets of task-oriented robots will be a necessity for future space exploration endeavors.
Our specific aim is to develop a general and widely applicable architecture for human supervision of a fleet of autonomous robots in support of sustained, affordable, and safe space exploration. We will demonstrate the benefits of this system-of-systems in the particular real-world task of wide-area mineral prospecting.
Together with NASA's Jet Propulsion Laboratory and the NASA Ames Research Center we will develop a software architecture and system for autonomous cooperative perception, control, coordination, navigation, and information-sharing / management of multiple robots: the Robot Supervision Architecture (RSA).
The RSA comprises three subsystems:
|The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.|
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