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Multi-Agent Robust and Scalable Cooperative Indoor Mapping (MARSCIM)

Award Information

Agency:
Department of Defense
Branch:
N/A
Award ID:
Program Year/Program:
2013 / SBIR
Agency Tracking Number:
O123-AU4-1103
Solicitation Year:
2012
Solicitation Topic Code:
OSD12-AU4
Solicitation Number:
2012.3
Small Business Information
Perceptronics Solutions, Inc.
3527 Beverly Glen Blvd. Sherman Oaks, CA -
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Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 2013
Title: Multi-Agent Robust and Scalable Cooperative Indoor Mapping (MARSCIM)
Agency: DOD
Contract: FA8651-13-M-0101
Award Amount: $149,999.00
 

Abstract:

The problem of sending a team of robots into an unknown environment to create a map is one of the most studied problems in robotics, and is referred to in the literature as Simultaneous Localization and Mapping (SLAM) or Distributed SLAM (DSLAM) when there are multiple robots. Here we propose to extend existing DSLAM capabilities, with robust and scalable algorithms to support increased cooperation and collaboration between teams of unmanned robotic aerial scouts engaged in tunnel mapping operations. Central to our approach is a set of message passing algorithms for information sharing, frontier expansion, and task allocation that are designed explicitly to address the challenges associated with real world robotics. Specifically, our algorithms are designed to operate under uncertainty and to be highly robust to ongoing communication, robotic, and sensor failures. During mission operations a parameter tuning mechanism, which was trained prior to mission execution using machine learning methods, is used to analyze observed information about the environment, and dynamically adjust algorithm parameter settings in order to maximize performance. In this way, the system continually adapts to match the characteristics of the environment in which it operates. Lastly, we propose a rigorous and thorough simulation-based evaluation of the developed algorithms, in order to prove their efficiency and robustness, and to prepare for transition to real-world robotics.

Principal Investigator:

Timur Chabuk
Sr. Research Scientist
(703) 342-4684
timc@percsolutions.com

Business Contact:

Amos Freedy
President
(818) 259-4278
afreedy@percsolutions.com
Small Business Information at Submission:

Perceptronics Solutions, Inc.
3527 Beverly Glen Blvd. Sherman Oaks, CA -

EIN/Tax ID: 421560694
DUNS: N/A
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No