Low-cost, multi-agent systems for planetary surface exploration

Giuliano Punzo, Gordon Dobie, Derek James Bennet, Jonathan Jamieson, Malcolm Macdonald

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

The use of off-the-shelf consumer electronics combined with top-down design methodologies have made small and inexpensive satellites, such as CubeSats, emerge as viable, low-cost and attractive space-based platforms that enable a range of new and exciting mission scenarios. In addition, to overcome some of
the resource limitation issues encountered with these platforms, distributed architectures have emerged to enable complex tasks through the use of multiple low complexity units. The low-cost characteristics of such systems coupled with the distributed architecture allows for an increase in the size of the system beyond what would have been feasible with a monolithic system, hence widening the operational capabilities without significantly increasing the control complexity of the system. These ideas are not new for Earth orbiting devices, but excluding some distributed remote sensing architectures they are yet to be applied
for the purpose of planetary exploration. Experience gained through large rovers demonstrates the value of in-situ exploration, which is however limited by the associated high-cost and risk. The loss of a rover can and has happened because of a number of possible failures: besides the hazards directly linked to the launch and journey to the target-body, hard landing and malfunctioning of parts are all threats to the success of the mission.
To overcome these issues this paper introduces the concept of using off-the-shelf consumer electronics to deploy a low-cost multi-rover system for future planetary surface exploration. It is shown that such a system would significantly reduce the programmatic-risk of the mission (for example catastrophic failure
of a single rover), while exploiting the inherent advantages of cooperative behaviour. These advantages are analysed with a particular emphasis put upon the guidance, navigation and control of such architectures using the method of artificial potential field. Laboratory tests on multi-agent robotic systems support the analysis. Principal features of the system are identified and the underlying advantages over a monolithic single-agent system highlighted.
LanguageEnglish
Number of pages12
Publication statusPublished - 1 Oct 2012
Event63rd International Astronautical Congress - Naples, Italy
Duration: 1 Oct 20125 Oct 2012

Conference

Conference63rd International Astronautical Congress
CountryItaly
CityNaples
Period1/10/125/10/12

Fingerprint

Multi agent systems
Consumer electronics
Costs
Landing
Remote sensing
Hazards
Navigation
Robotics
Earth (planet)
Satellites

Keywords

  • planetary surface exploration
  • CubeSats
  • multi-agent systems

Cite this

Punzo, G., Dobie, G., Bennet, D. J., Jamieson, J., & Macdonald, M. (2012). Low-cost, multi-agent systems for planetary surface exploration. Paper presented at 63rd International Astronautical Congress, Naples, Italy.
Punzo, Giuliano ; Dobie, Gordon ; Bennet, Derek James ; Jamieson, Jonathan ; Macdonald, Malcolm. / Low-cost, multi-agent systems for planetary surface exploration. Paper presented at 63rd International Astronautical Congress, Naples, Italy.12 p.
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Punzo, G, Dobie, G, Bennet, DJ, Jamieson, J & Macdonald, M 2012, 'Low-cost, multi-agent systems for planetary surface exploration' Paper presented at 63rd International Astronautical Congress, Naples, Italy, 1/10/12 - 5/10/12, .

Low-cost, multi-agent systems for planetary surface exploration. / Punzo, Giuliano; Dobie, Gordon; Bennet, Derek James; Jamieson, Jonathan; Macdonald, Malcolm.

2012. Paper presented at 63rd International Astronautical Congress, Naples, Italy.

Research output: Contribution to conferencePaper

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AU - Punzo, Giuliano

AU - Dobie, Gordon

AU - Bennet, Derek James

AU - Jamieson, Jonathan

AU - Macdonald, Malcolm

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N2 - The use of off-the-shelf consumer electronics combined with top-down design methodologies have made small and inexpensive satellites, such as CubeSats, emerge as viable, low-cost and attractive space-based platforms that enable a range of new and exciting mission scenarios. In addition, to overcome some of the resource limitation issues encountered with these platforms, distributed architectures have emerged to enable complex tasks through the use of multiple low complexity units. The low-cost characteristics of such systems coupled with the distributed architecture allows for an increase in the size of the system beyond what would have been feasible with a monolithic system, hence widening the operational capabilities without significantly increasing the control complexity of the system. These ideas are not new for Earth orbiting devices, but excluding some distributed remote sensing architectures they are yet to be applied for the purpose of planetary exploration. Experience gained through large rovers demonstrates the value of in-situ exploration, which is however limited by the associated high-cost and risk. The loss of a rover can and has happened because of a number of possible failures: besides the hazards directly linked to the launch and journey to the target-body, hard landing and malfunctioning of parts are all threats to the success of the mission. To overcome these issues this paper introduces the concept of using off-the-shelf consumer electronics to deploy a low-cost multi-rover system for future planetary surface exploration. It is shown that such a system would significantly reduce the programmatic-risk of the mission (for example catastrophic failure of a single rover), while exploiting the inherent advantages of cooperative behaviour. These advantages are analysed with a particular emphasis put upon the guidance, navigation and control of such architectures using the method of artificial potential field. Laboratory tests on multi-agent robotic systems support the analysis. Principal features of the system are identified and the underlying advantages over a monolithic single-agent system highlighted.

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KW - multi-agent systems

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M3 - Paper

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Punzo G, Dobie G, Bennet DJ, Jamieson J, Macdonald M. Low-cost, multi-agent systems for planetary surface exploration. 2012. Paper presented at 63rd International Astronautical Congress, Naples, Italy.