IMPERA
Integrated Mission Planning for Distributed Robot Systems
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 |
| Donee: | German Research Center for Artificial Intelligence GmbH |
| 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. |
| Partner: | Distributed Systems Group, University of Kassel |
| Application Field: | Space Robotics |
| Related Projects: |
VirGo4
Virtual state prediction for Groups of reactive autonomous Robots
(04.2011-
06.2014)
|
| Related Robots: |
SeekurJr
Four-wheel, skid-steered mobile outdoor robot
AMPARO
Autonomous manipulation robot
|
Project details
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.