Hierarchical State Machine Visualization in Multi-Robot System

Swarms of space vehicles rely on cooperative operations to perform scheduled tasks. This project proposes to improve the design process and operation control of a multi-agent system by using Hierarchical state machines (HSMs). The research will look into theoretical frameworks and methods to visualize HSMs dynamics representing the behavior of a multi-agent system. How an interactive user interface can help engineers and ground operators to predict how each robot and the system will behave in future situations. A prototype of software simulation will be built to demonstrate feasibility at TRL 2.

Control Architecture for Robotic Agent Command and Sensing (CARACaS) Autonomous Pop-Up Flat-Folding Explorer Robot (A-PUFFER)

In the future of Autonomous Mobility, the offerors see that programming will shift focus beyond the independent-mover and into a swarm ecosystem framework. The innovations proposed in this STTR will play a crucial role in this ecosystem development as human-machine teaming will be integrated within each swarm component as well as on a systematic control level.

This is early/mid-stage (TRL 2) — the most realistic path in is NASA SBIR/STTR, which funds small businesses and research institutions to develop technology aligned with NASA's needs (equity-free, phased funding). Check whether a current SBIR/STTR solicitation topic overlaps with this project's technology area, or contact the project directly (above) to ask.

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