CRATOS II: Modular ISRU Excavation Tools, Year 1

Key Technical Challenges: Embedding all required functions within track hardware that exists from previous efforts. \nApproach/Research Plan: Construct two intelligent, self-contained track mechanisms; Demonstrate each track's ability to function as a single agent; Track state such as battery health, motor angular velocity, track angle on the x and Z axes, forward and rear obstacle detection; mechanically connect two tracks into a pair; and, demonstrate operating via command from the command agent.\nDifferent/Complementary: A search of the literature reveals simulation and small agent (toy robot) academic efforts to demonstrate swarm control under supervised and unsupervised self-organization. \nNext Step: Future efforts will include the development of payload mechanisms, the first of which should be the excavation bucket. \n\n

Goal: To develop tracks, excavator buckets, reactors, and other payloads, which can assemble themselves to perform the ISRU objectives of: Robotic mobility, Regolith acquisition, Transportation, Site preparation, and Waste disposal\nCapability Need/Knowledge Gap: CRATOS II agents will be able to work individually and in a fleet to autonomously excavate and deliver regolith, and will be able to repair themselves through reassembly from available functional subsystems. The proposed system capability makes real a method to successfully perform remote autonomous excavation, and to be able to do so with graceful fleet degradation through individual subcomponent reorganization. \nState-of-the-Art/Knowledge: A literature search found no similar effort nor examples of individual excavation robot modules self-assembling.

This is early/mid-stage (TRL 3) — 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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