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|
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.|
|Partner:||Distributed Systems Group, University of Kassel|
|Team:||Team VIII - Knowledge-based long-term Autonomy|
|Application Field:||Space Robotics|
Virtual state prediction for Groups of reactive autonomous Robots (04.2011- 06.2014)
Four-wheel, skid-steered mobile outdoor robotAMPARO
Autonomous manipulation robot
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)
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.
IMPERA: Erkundung und Objektmanipulation mit dem Roboter-Team
Ein Team von zwei Robotern zeigt die Fähigkeiten Objekte zu lokalisieren und diese zu transportieren.