Distributed Algorithms for Exploration with Robotic Sensor Networks

Building on our understanding of the lunar surface and subsurface will be integral to a sustainable, long-term lunar presence. To explore this harsh, unknown environment, multi-agent systems of small-scale robots have been proposed as system architecture due to the low volume, mass, and development costs of small robots, and the robustness and coordination capabilities of multi-agent systems. This research investigates the challenges associated with deploying and controlling a network of robots in unknown environments with a specific focus on collaboration and exploration. These challenges include localization, multi-hop routing, motion control for exploration, consensus and task allocation, and multi-robot mapping. In particular, this research focuses algorithms which are low-complexity (suitable for resource-constrained robots), distributed (to minimize reliance on a central agent), and perform well under uncertainty. This research will further the state of the art through the design, evaluation, and implementation of algorithms which use inter-robot signals to perform localization and can efficiently and reliably explore unknown environments under constraints on connectivity.

By demonstrating the feasibility of this algorithm and evaluating its performance relative to a centralized communication architecture, this research will result in novel distributed autonomy for robotic sensor networks. This research directly addresses the NASA-identified technology need for Automated Intelligent Networked Systems (TA 5.5.3.1).

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.

None of these are guaranteed paths for this specific project — TechPort itself doesn't have an "apply" button. Reaching out to the contact(s) above with a specific question is usually the fastest way to find out what's actually open.