Mobile Autonomous Robotic Systems for Unstructured Environment--With Application to the USS Constitution

该奖项属于探索性研究小额拨款，支持对机器人在野外保护、修复和保护中的潜在作用进行初步调查，并以历史悠久的美国海军舰艇“宪法号”的探索和后来的修复为例。这项工作旨在确定多机器人系统的适当设计方法，用于进行测量，检测缺陷，并最终参与修复和恢复操作，并确定此类机器人应用面临的基本问题。问题包括合作模式、通信需求、感知需求、对极简计算的需求，以及对用于检查和补救的独立系统的需求。该项目有望为此类野外保护和修复作业的机器人的适当设计和使用提供有价值的见解，并且还应该导致机器人在结构较松散的环境中的能力的高度可见的演示。它也可以很好地测试布鲁克斯方法在多机器人架构中的实际潜力)。PI将与宪法保护专家、保护科学家和海军历史学家合作，整体行动将由一个顾问小组指导。

9320138 Dubowsky This award, in the Small Grants for Exploratory Research, supports preliminary investigation of the potential role of robotics in field conservation, restoration, and preservation, using as a demonstration the exploration and later restoration of the historic Navy vessel, the USS Constitution. Thi effort seeks to determine appropriate design approaches for multirobot systems to be used in making measurements, detecting defects, and ultimately participating in repair and restoration operations, and to identify basic problems facing such robotic applications. Questions include modes of cooperation, communication demands, sensing demands, need for minimalist computing, and need for separate systems for inspection and remediation. The project is expected to yield valuable insights into the appropriate design and employment of robots for such field conservation and restoration operations, and also should lead to a highly-visible demonstration of robotic capabilities in less-structured environments. 9It might also make a good test of practical potential of the Brooksian approach to multirobot architecture). The PI will be working with conservators, conservation scientists, and the Naval Historian for the Constitution, and the overall operations will be guided by an advisory panel.