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Completed TRL 2 (started at 2, targeting 3)
Motivated by human chain search parties for missing people in unknown terrains, we propose to design algorithms for coordinated multi-robot terrain estimation and exploration using wheeled robots/rovers that are coupled together serially via a tether. The tethered configuration would not only provide access to extreme terrain (with coordinated assistance) but also redundancy and failure mitigation opportunities. Specifically, we plan to develop algorithms for constrained multi-robot task allocation and motion planning, terrain/slippage estimation and compensation, and forceful interactions for assist/rescue missions. Together, these proposed algorithms will enable the coordinated multi-robot-chain system to take advantage of the tethered configuration and teamwork to improve terrain estimation and navigation while being able to take calculated risks to reach and study an otherwise unattainable science location in lunar or planetary missions.
This project will enhance planetary terrain estimation and exploration missions, while not abandoning valuable rovers that have temporarily failed. The tethers that enable rescues allow the rovers to take calculated risks to reach and study otherwise unattainable science locations. This technology is also applicable to other cooperative autonomous missions with or without human supervision.
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