Proposal Number:          21-1- T10.03-2297

          

          

   

Subtopic Title:
      Coordination and Control of Swarms of Space Vehicles

          

          

   

Proposal Title:
      Communicationless Coordination via Intent Estimation and Intent-Expressive Motion Planning in Multiagent Exploration

          

          

   

Firm:

          

Geisel Software, Inc.

          

   

Address:

          

67 Millbrook Street, Worcester, MA 01606 - 2846

          

   

Phone:

          

(508) 936-5099                                                                                                                                                                                

          

   

Name:

          

Arizona State University

          

   

Address:

          

551 E. Tyler Mall, ERC 305, AZ 85287 -

          

   

Phone:

          

(480) 965-7970                                                                                                                                                                                

          

   

Name:

          

Dr. Sze Zheng Yong

          

   

E-mail:

          

szyong@asu.edu

          

   

Address:

          

551 E. Tyler Mall, ERC 305, AZ 85287 -

          

   

Phone:

          

(480) 965-7970                                                                                                                                                                                

          

   

Name:

          

Brian Geisel

          

   

E-mail:

          

bgeisel1@geisel-software.com

          

   

Address:

          

67 Millbrook Street, MA 01606 - 2846

          

   

Phone:

          

(508) 936-5099                                                                                                                                                                                

          

   

Estimated Technology Readiness Level (TRL) :                                                                                                                                                          
Begin: 3
End: 4

          

          

     

Technical Abstract (Limit 2000 characters, approximately 200 words):

This project will design algorithms for communicationless coordination of multi-robot systems via
intent estimation and intention-expressive motion planning. In collaboration with Geisel Software,
Inc., the ASU team will explore the feasibility and design of these algorithms by building upon
prior work on intent inference for dynamical systems, e.g., autonomous driving and swarm intent
estimation. In particular, the ASU team will develop behavior and intent estimation/prediction
algorithms that combine set-based and probabilistic model discrimination and estimation
frameworks to detect a potential mismatch between intended and actual paths/trajectories of
rovers. Moreover, the cooperative team will design intent-expressive (also known as ‘legible’)
motion planning algorithms such that the intended paths/trajectories and tasks are more easily
inferred without explicit communication. Furthermore, in this first phase, we will perform
feasibility and test studies for the proposed communicationless coordination approach by
developing a realistic simulation platform such as a Gazebo simulator and leveraging Geisel
Software’s prior experience and expertise in this area. To complement the roles of the collaborators
at Geisel Software, Inc., Dr. Yong and his graduate student will assist with algorithm design and
simulations.

          

          

     

Potential NASA Applications (Limit 1500 characters, approximately 150 words):

More efficient planning for independent autonomous swarms of robots performing science tasks in various space environments.

          

          

     

Potential Non-NASA Applications (Limit 1500 characters, approximately 150 words):

Improved coordination and task allocation for autonomous swarms of robots performing science tasks in various deep sea/communication denied environments. Defense applications may include adversarial estimation of enemy intent.

          

          

     

Duration:     13