IMPERA

Integrated Mission Planning for Distributed Robot Systems

Robotsystem Amparo (Source: Markus Eich, DFKI GmbH)
Robotsystem Amparo (Source: Markus Eich, DFKI GmbH)
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The goal of the research project IMPERA is the development of strategies for distributed mission and task planning. An application example is the exploration of unknown, lunar environment using a team of mobile robots. The planning refers to mobile, distributed and heterogeneous robots. One sub goal is the development of a standardized and modular task planning architecture which is running on the systems directly without the need of dedicated infrastructure.

Duration: 01.04.2011 till 31.03.2014
Partner: Distributed Systems Group, University of Kassel
Sponsor: Federal Ministry of Economics and Technology
German Aerospace Center e.V.
Grant number: This project is funded by the Space Agency (DLR Agentur), acting on a mandate from the Federal Government, grant no. 50 RA 1111.
Donee: DFKI GmbH
Team: Team VIII - Autonomy
Application Field: Space Robotics
Related Projects: VirGo4
Virtual state prediction for Groups of reactive autonomous Robots (04.2011- 06.2014)
Related Robots: AMPARO
Autonomous manipulation robot

Project details

Scout (Source: Markus Eich, DFKI GmbH)

The IMPERA software architecture will be augmented with different planning modules during the project and the usability will be verified using real robot systems.
The different task execution strategies are developed and iteratively tested in simulation environment. The verification and deployment of the planning modules will be achieved in an extraterrestrial setting using a team of heterogeneous robots. The usability of the IMPERA architecture will be verified in the following scenarios:

  • Dynamic sensor and communication coverage in the context of lunar exploration
  • Planning with restricted resources like energy and storage
  • Distributed exploration with the use of heterogeneous robots
  • Inspection and maintenance of lunar infrastructure
  • Transfer between spatial and symbolic representation (semantic perception)

The transfer between the spatial and semantic domain is an important issue in order to be able to plan on a symbolic level. Robots perceive the environment with sensors in the spatial domain, e.g. laser generated 3D point clouds. One part of the project deals with the classification of spatial data in order to allow symbolic planning.
For the above mentioned planning problems specific planning modules will be developed and integrated in the IMPERA planning architecture. All planning problems are dealt with in a multi-robot context and executed on real robot systems. 

Videos

IMPERA: Exploration and object-manipulation with the robot-team

A team of two robots are demonstration the abilities to localize and to transport objects.

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