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

• 批准号: 2133142
• 负责人: Adam Houston
• 金额: $ 45.46万
• 依托单位: University of Nebraska-Lincoln
• 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=2133142&HistoricalAwards=false
• 关键词: Collaborative; Research; NRI; Dispersed; Autonomy

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.

该项目将进行机器人技术的创新整合，以创建有袋动物空中机器人团队（MART），从而使小型无人驾驶飞机系统（即无人机）携带较小的飞机提供大气观测。由MART收集的数据启用的有效的高级预警系统可以大大减少恶劣天气造成的生命损失和损害。在对人类来说太危险的地方运行的空中机器人系统或昂贵的单机系统将需要对详细的模型和大量数据进行推理。该项目将创建和部署一个机器人团队，就像一个自主的空中气象学家进行在线有针对性的预测。MART实现了国家机器人计划的目标，即促进机器人的整合，以造福人类。该项目将开发一个自主的空中气象学家，由连接到分散的用户和计算资源的空中机器人团队组成。这项工作体现了机器人技术创新整合的主题，通过在有袋类空中机器人团队上集成、部署和评估新的基本算法来推进当前的实践。集成机器人技术包括：i.）空射伪拉格朗日漂移器; ii.）用于自主目标观测的集合灵敏度分析; iii.）解决在线连续域部分可观测马尔可夫决策过程（POMDP）的算法; iv.）不确定流中的并行路径规划;以及v.）该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。