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| Main Authors: | , , , , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2401.08497 |
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| _version_ | 1866909074998689792 |
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| author | Holand, Ethan Homer, Jarrod Storrer, Alex Khandeker, Musheeera Muhlon, Ethan F. Patel, Maulik Vainqueur, Ben-oni Antaki, David Cooke, Naomi Wilson, Chloe Shafai, Bahram Hanson, Nathaniel Padır, Taşkın |
| author_facet | Holand, Ethan Homer, Jarrod Storrer, Alex Khandeker, Musheeera Muhlon, Ethan F. Patel, Maulik Vainqueur, Ben-oni Antaki, David Cooke, Naomi Wilson, Chloe Shafai, Bahram Hanson, Nathaniel Padır, Taşkın |
| contents | We propose a novel, heterogeneous multi-agent architecture that miniaturizes rovers by outsourcing power generation to a central hub. By delegating power generation and distribution functions to this hub, the size, weight, power, and cost (SWAP-C) per rover are reduced, enabling efficient fleet scaling. As these rovers conduct mission tasks around the terrain, the hub charges an array of replacement battery modules. When a rover requires charging, it returns to the hub to initiate an autonomous docking sequence and exits with a fully charged battery. This confers an advantage over direct charging methods, such as wireless or wired charging, by replenishing a rover in minutes as opposed to hours, increasing net rover uptime.
This work shares an open-source platform developed to demonstrate battery swapping on unknown field terrain. We detail our design methodologies utilized for increasing system reliability, with a focus on optimization, robust mechanical design, and verification. Optimization of the system is discussed, including the design of passive guide rails through simulation-based optimization methods which increase the valid docking configuration space by 258%. The full system was evaluated during integrated testing, where an average servicing time of 98 seconds was achieved on surfaces with a gradient up to 10°. We conclude by briefly proposing flight considerations for advancing the system toward a space-ready design. In sum, this prototype represents a proof of concept for autonomous docking and battery transfer on field terrain, advancing its Technology Readiness Level (TRL) from 1 to 3. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_08497 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Battery-Swapping Multi-Agent System for Sustained Operation of Large Planetary Fleets Holand, Ethan Homer, Jarrod Storrer, Alex Khandeker, Musheeera Muhlon, Ethan F. Patel, Maulik Vainqueur, Ben-oni Antaki, David Cooke, Naomi Wilson, Chloe Shafai, Bahram Hanson, Nathaniel Padır, Taşkın Robotics We propose a novel, heterogeneous multi-agent architecture that miniaturizes rovers by outsourcing power generation to a central hub. By delegating power generation and distribution functions to this hub, the size, weight, power, and cost (SWAP-C) per rover are reduced, enabling efficient fleet scaling. As these rovers conduct mission tasks around the terrain, the hub charges an array of replacement battery modules. When a rover requires charging, it returns to the hub to initiate an autonomous docking sequence and exits with a fully charged battery. This confers an advantage over direct charging methods, such as wireless or wired charging, by replenishing a rover in minutes as opposed to hours, increasing net rover uptime. This work shares an open-source platform developed to demonstrate battery swapping on unknown field terrain. We detail our design methodologies utilized for increasing system reliability, with a focus on optimization, robust mechanical design, and verification. Optimization of the system is discussed, including the design of passive guide rails through simulation-based optimization methods which increase the valid docking configuration space by 258%. The full system was evaluated during integrated testing, where an average servicing time of 98 seconds was achieved on surfaces with a gradient up to 10°. We conclude by briefly proposing flight considerations for advancing the system toward a space-ready design. In sum, this prototype represents a proof of concept for autonomous docking and battery transfer on field terrain, advancing its Technology Readiness Level (TRL) from 1 to 3. |
| title | Battery-Swapping Multi-Agent System for Sustained Operation of Large Planetary Fleets |
| topic | Robotics |
| url | https://arxiv.org/abs/2401.08497 |