Sze Zheng Yong
Arizona State University
Motivated by human chain search parties for missing people in unknown terrains, we propose to Yong will design algorithms for coordinated multi-robot terrain estimation and exploration using wheeled robots/rovers that are coupled together serially via a tether. The tethered configuration would not only provide access to extreme terrain (with coordinated assistance) but also redundancy and failure mitigation opportunities. Specifically, we plan to develop algorithms for constrained multi-robot task allocation and motion planning, terrain/slippage estimation and compensation, and forceful interactions for assist/rescue missions. Together, these proposed algorithms will enable the coordinated multi-robot-chain system to take advantage of the tethered configuration and teamwork to improve terrain estimation and navigation while being able to take calculated risks to reach and study an otherwise unattainable science location in lunar or planetary missions.