JIETSSP: Coordination of Robotic Teams for Space Solar Power Assembly Operations

空间太阳能设施的组装将比任何以前的在轨组装复杂得多，要求也高得多。虽然人类工人显然不能直接建造这样的设施，但涉及许多机器人团队和很少有人监督的替代方案还不成熟。为了在这个企业中取得成功，需要在自主机器人组装和人-机器人交互等领域拥有革命性的新能力。该项目将寻求对如何使用由人类监督的自主机器人建造空间太阳能(SSP)设施的根本新见解和演示。它将有两个主要目标，对空间太阳能组装的未来很重要：使不同种类的多个机器人能够协调执行复杂的任务，如组装；使人-机器人在组装操作中灵活地交互，以处理不可预见的意外情况。对于一些关键任务，如移动子结构，自主控制已经可行。对于其他方面，如连接部件的精细操纵，需要人类的感知和控制。PI寻求开发一个通用框架，他们称之为滑动自主，其中任何机器人上的任何子任务都可以自动执行或由远程操作员执行，具体取决于情况。该框架将使混合主动决策成为可能：如果人类用户愿意，他们可以决定接管控制权，而自主系统可以决定在他们需要帮助时移交控制权。该项目将利用现有的机器人试验台，该试验台是为之前的NASA计划开发的，由三个不同的机器人(一台起重机、一台移动机械手)组成。和流动眼)，用于自主组装。它将演示几个基本的组装任务，如对接横梁和架设电缆。它将根据所花费的时间和成功率来量化滑动自主性对这项任务的优势。效率的明显提高将证明这种组装用于空间太阳能设施的可行性。

Assembly of Space Solar Power facilities will be significantly more complex and demanding than any prior on-orbit assembly. While it is evident that human workers will not be able to construct such facilities directly, alternatives involving many robot teams and few human supervisors are not yet mature. To succeed in this enterprise, revolutionary new capabilities are needed in areas such as autonomous robotic assembly and human-robot interaction. This project will seek fundamental new insights and demonstrations of how Space Solar Power (SSP) facilities can be built using autonomous robots supervised by humans. It will have two main objectives, important to the future of Space Solar Power assembly:Enable heterogeneous multiple robots to coordinate in the performance of complex tasks, such as assembly~Enable flexible human-robot interaction during assembly operations to deal contingencies that cannot be anticipated.For some of the key tasks, such as moving substructures, autonomous control is already feasible. For other aspects, such as fine manipulation to connect components, human perception and control is needed.The PI seek to develop a general framework, which they term sliding autonomy, where any subtask, on any of the robots, can be performed either autonomously or by a tele-operator, depending on the situation. The framework will enable mixed-initiative decision making: Human users can decide to take control, if they want, and the autonomous systems can decide to hand over control, when they need help.This project will utilize an existing robotic testbed, developed for a previous NASA program, consisting of three heterogeneous robots (a crane, a mobile manipulator. and a roving eye) that are used for autonomous assembly. It will demonstrate several basic assembly tasks, such as docking beams and stringing cables. It will quantify the advantages of sliding autonomy for this task, in terms of time spent and success ratio. A clear improvement in efficiency will demonstrate the feasibility of such assembly for Space Solar Power facilities.