Autonomous Multi-Robot Exploration using UWB, Phase I

UWB distributed navigation and sensing technology would enhance NASA's mission in a number of ways. First, multi-robotic systems with an instrument-laden "Parent/Base" vehicle could support localization and data storage/uplink of many lightly laden "Child/Scout" vehicles. These scout vehicles would use UWB for ranging, communications, and cooperative radar, providing a small, redundant exploration architecture. Second, this concept can be extended to multiple aerial vehicles flying in tight formation using UWB peer-to-peer ranging. Simultaneous UWB multi-static radar in the outer agents would scan the surface, providing precision altimetry as well as imaging. UWB uniquely could provide precision (~100ps) dynamic time synchronization supporting distributed aperture radio arrays for long-distance transception through this swarm of cooperative agents. Development of a mobile ad hoc network with subsumed navigation layer and enabling dynamic multi-static radar for multi-robotic systems will support many non-NASA applications including: - Multi-robotic search and rescue systems working together to map and sense people in rubble - Cooperative security robots, continually mapping floor plans looking for out of place items - Autonomous chem/bio/rad hazards: small teams of robots with special sensors quickly measure and map the location of hot spots within storage warehouses - Distributed personnel and high-end asset tracking in GPS-denied industrial factories, warehouses, and construction sites - Vehicle collision avoidance safety systems for construction, mining, forestry, and other heavy industries - Formation control in autonomous agriculture More »