Semantic Mapping and Safe Autonomous Navigation for Intra-Vehicular Robots in Microgravity

We propose development of algorithms for semantic mapping of complex intra-vehicular environments, as well as strategies for safe navigation within such areas despite changes in the map. That is, our algorithms will enable robots to perceive their environment as a collection of high level objects as a human does, not simply as a collection of points or occupancy grid. We emphasize research on safe autonomous navigation in and characterization of dynamic environments where the map may change. We also propose work on characterizing and recognizing soft or jointed objects which are not rigid and may change in configuration. Research will focus on highly optimized techniques which are capable of running on computationally constrained platforms. These algorithms and techniques will be developed initially in detailed simulation environments. They will then be tested on quadrotors, which move in the same three-dimensional world as intra-vehicular robots (IVR) in space. Ultimately, we plan to test the developed algorithms using the Astrobee platforms on the ISS. Astrobee is a particularly helpful testbed for development of robotic systems for unmanned space station inspection and maintenance, including, specifically, the planned cis-lunar Gateway. The Gateway is planned to be unmanned for the majority of the time, so robots capable of autonomously inspecting and maintaining a station are a key enabling technology. Semantic mapping is an important requirement for exploratory and inspection robots. Robots tasked with construction or maintenance of space stations and orbital platforms will benefit from the ability to monitor changes on station as well as handle reconfiguration tasks. These capabilities will enable station monitoring even without current human occupation, as well as reduce demands on astronauts.

Semantic mapping is an important requirement for exploratory and inspection robots. Robots tasked with construction or maintenance of space stations and orbital platforms will benefit from the ability to monitor changes on station as well as handle reconfiguration tasks. These capabilities will enable station monitoring even without current human occupation, as well as reduce demands on astronauts.

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