Collaborative Research: NRI: Dispersed Autonomy for Marsupial Aerial Robot Teams

合作研究：NRI：有袋类空中机器人团队的分散自治

基本信息

批准号：
2133141
负责人：
Eric Frew
金额：
$ 104.54万
依托单位：
University of Colorado at Boulder
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2022
资助国家：
美国
起止时间：
2022-01-01 至 2024-12-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2133141&HistoricalAwards=false
关键词：
Collaborative Research NRI Dispersed Autonomy

项目摘要

This project will conduct innovative integration of robotics technologies to create Marsupial Aerial Robot Teams (MARTs) whereby small uninhabited aircraft systems (i.e. drones) carry smaller aircraft to provide observations of the atmosphere. Effective advanced warning systems enabled by the data collected by MARTs could drastically reduce the loss of life and damage caused by severe weather. Aerial robotic systems operating in places too dangerous for humans or expensive single-vehicle systems will need to reason over detailed models and large amounts of data. This project will create and deploy a team of robots that will be like an autonomous airborne meteorologist performing online targeted forecasting.MARTs achieve the National Robotics Initiative’s goal to promote the integration of robots to the benefit of humans. This project will develop an autonomous airborne meteorologist that consists of teams of aerial robots connected to dispersed users and computing resources. The effort embodies the theme of innovative integration of robotic technologies by advancing current practices through new fundamental algorithms integrated, deployed, and evaluated on marsupial aerial robot teams. Integrated robotic technologies include: i.) air-launched pseudo-Lagrangian drifters; ii.) ensemble sensitivity analysis for autonomous targeted observation; iii.) algorithms that solve online continuous-domain partially-observable Markov decision processes (POMDPs); iv.) parallelized path planning in uncertain flows; and v.) a dispersed autonomy architecture for marsupial aerial robot teams.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目将对机器人技术进行创新的整合，以创建有袋动物机器人机器人团队（MARTS），从而使小型无人居住的飞机系统（即无人机）携带较小的飞机以提供大气的观察。由MART收集的数据启用的有效高级警告系统可以大大减少恶劣天气造成的生命和损害。在对人类或昂贵的单车系统过于危险的地方运行的空中机器人系统将需要对详细的模型和大量数据进行推理。该项目将创建并部署一个机器人团队，就像一个自主空降的气象学家，在线进行有针对性的预测。该项目将开发一个自主空降气象学家，由与分散用户和计算资源相关的空中机器人团队组成。这项努力通过通过在有袋式空中机器人机器人团队中进行整合，部署和评估的新基本算法来推进当前实践的创新整合主题。集成的机器人技术包括：i。）空调的伪拉格朗日演习； ii。）合奏灵敏度分析，用于自主靶向观察； iii。）算法解决在线连续域部分观察的马尔可夫决策过程（POMDPS）； iv。）不确定流动中的平行路径计划；和v。）有袋动物空中机器人团队的分散的自治体系结构。该奖项反映了NSF的法定任务，并使用基金会的知识分子优点和更广泛的影响标准，被视为通过评估而被视为珍贵的支持。