MARS 2020 Kick-Off Meeting 13 November 2002 Georgia Tech

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MARS 2020 Kick-Off Meeting13 November 2002
Georgia Tech
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Personnel

• Faculty
• Prof. Ronald Arkin
• Prof. Tucker Balch
• Dr. Robert Burridge
• Students
• Keith OHara
• Matt Powers
• Patrick Ulam
• Alan Wagner

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Georgia Techs Research Tasks

• Employ information about the network (BBN) as a
  sensor for communication sensitive behaviors
• Develop and assess
• Communication sensitive behaviors
• Communication sensitive mission specification
  tools
• Communication sensitive planning (a la Paytons
  internalized plans)

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Current Focus

• Infrastructure building (MissionLab)
• Addition of 3-dimensional simulation and
  behaviors.
• Visualization tools.
• Integration of BBN communications models.
• Support for heterogeneous teams.
• Methodologies
• Metrics
• Some initial experiments

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Some Initial Results

• Task for a robot team
• Navigate to a goal location while maintaining
  fully connected comm network.
• Environment
• 200 x 200 meter arena.
• Scattered, comm-blocking obstacles.
• Approach
• Integrate preserve-comm motor schema with other
  navigational schemas.

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Navigation without Preserve-Comm
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Navigation with Preserve-Comm
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Scenario 1

• 1 Goal
• 4 Robots spaced by 15m
• 200m x 200m arena
• 15 Obstacle coverage
• 20 random worlds

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Scenario 2

• 4 Goals
• Visited in order
• 4 Robots spaced by15m
• 200m x 200m arena
• 15 Obstacle coverage
• 20 random worlds

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Metrics to Assess Performance

• Time Until Completion
• Length of experiment.
• One Network
• Percentage of time spent as one network.
• Full Network
• Percentage of time spent as a fully connected
  network.
• Loners
• Percentage of time where there was at least one
  unconnected node.

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One Network
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Full Network
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Loners
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Time Until Completion
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Next Steps

• Continue
• Infrastructure building.
• Continued integration of BBN communications
  models.
• Development and assessment of comm-sensitive
  behaviors.
• Begin
• Integration with UPenn and USC vehicles.
• Integration of plans as resources.