Efficient Distributed State Estimation for Swarm Robotics

DALEC is a robust distributed localization system for real-time state estimation and mapping of networked members including spacecraft, rovers, and even astronauts in GPS-denied environments such as the lunar surface. DALEC is an innovative state estimation framework based on state-of-the-art factor graph methods combined with a wireless communication system leveraging efficient mesh networking protocols that together can be used to localize agents with various sensing modalities (e.g., visual odometry, LiDAR). A distributed system like DALEC offers spacecraft and rover networks an inherently more robust and reliable means of localization compared to centralized methods utilizing a central processing node, reducing mission and program risk by eliminating a potential single point of failure. In this Phase II effort Astrobotic with CMU, will mature and extend the Phase I DALEC software, APIs, and core distributed localization algorithms, develop models of UWB ranging and wireless comms protocols, enhance simulation tools and deploy DALEC software to relevant embedded compute to iteratively test and improve performance in support of demonstrating system performance through hardware-in-the-loop, robotic motion capture, and field testing.