CASER: Coordinated Autonomous Systems for Exploration and Reconnaissance
Abstract
This project aims to develop fundamental research that can enhance the capabilities of the Unmanned Autonomous Systems (UAS) for exploration and reconnaissance across complex environments (ground and air). Robust muti-robots or multi-agents teams need to implement models of coordinated maneuvers and techniques that support the understanding of the surroundings and their characteristics, as well as to implement self-organizing behaviors and control strategies that generate paths/routes that can maximize cover, while maximizing teamÕs efficiency. Strategies will enable team formations, the identification of terrain characteristics, obstacles and environmental conditions, structural assessment, hence observe threats without compromise, react successfully to contact, maximize tactical maneuvers, and minimize exposure. The Coordinated Autonomous Systems for Exploration and Reconnaissance (CASER) project will address three main research areas, i.e., (1) Distributed Control of Multi-Robot Systems and Multisensory Synthesis, (2) Models and Metrics for Robust Systems, and (3) Information Processing and Fusion. Research area 1 targets four problems: (1.1) the design of distributed non-linear systems for autonomous area coverage and multi-robot task allocation, as well as techniques for computing constraints and derivation of optimal solutions under uncertainty and local information; (1.2) the creation of a seamless interaction between human and UAS teams by developing strategies to intuitively operate multiple UAS by a single operator via multisensory synthesis; (1.3) the development of collision-free coordination control of a multi-robot system with obstacles of different sizes and formations in a parallel fashion; (1.4) and the design of robust control strategies to increase the adaptability of a multi-robot system during communication constraints. Research area 2 targets two problems: (2.1) the development of Testing and Evaluation (T&E) techniques for UAS that can better assist users in the selection and acquisition of such technologies, as well as the implementation of qualitative methodologies to define UAS Safe Autonomy Integrity Levels; and (2.2) the design of a risk assessment-based bubble theory that can assist in measuring exposure of the UAS team and increase autonomy. Research area 3 targets three problems: (3.1) the development of structural health inspection techniques using multimodal UAS-acquired data; (3.2) the design and development of digital twins of damaged structures for risk-assessment usage decision making, and for live monitoring of damaged structures during emergencies, and (3.3) the environmental and weather emulation and analysis techniques harnessing multimodal UAS-acquired data. This research project will benefit current undergraduate students within the Departments of Engineering (Electrical, Mechanical and Civil engineering programs) by allowing students to put into practice the different concepts found in the courses of Control Systems I and II, Microcontrollers, Communication Theory, Mechatronics, Statics, and Programing. It will also contribute to the recently approved masterÕs degree in Engineering (to be launched in Spring 2023). Undergraduate and graduate students will gain research experience by using industry related software such as MATLAB/Simulink, C++, Python, Robot Operating System (ROS) and Abaqus Finite Element Analysis. Project will generate opportunities to have multidisciplinary Capstone teams working in UAS, support the new Civil and Industrial programs and promote the development of curriculum and labs for the master program within the Department of Engineering at Texas A&M University-Corpus Christi (TAMU-CC). The Collaborative Robots and Agents Lab (CORAL) will be used to attract a new generation of students and motivate them to pursue a STEM career, by hosting current PK-12 STEM programs such as STEM-Tronics, workshops, summer camps and CORAL tours.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- May 24, 2023
- Source ID
- W911NF2310186
Entities
People
- Jose Baca Garcia
Organizations
- Army Contracting Command
- Office of the Secretary of Defense
- Texas A&M University–Corpus Christi