Gateway Robot Autonomous Planning Execution and Situation Awareness

Stottler Henke proposes to develop Gateway Robot Autonomous Planning Execution and Situation Awareness (GRAPES), an operational concept, system architecture, and integrated set of software components for autonomous intra-vehicular robotics, focusing on the Astrobee and/or Robonaut on the Lunar Gateway. GRAPES will enhance the capabilities of Gateway operations such as payload operations, system health management, and inventory management by providing autonomous robot services. GRAPES will also include modeling tools for specifying the planning/scheduling, task execution, situation awareness, impact assessment, and goal management knowledge used by components in the GRAPES run-time system. The development of GRAPES will leverage Stottler Henkersquo;s autonomous systems experience and technologies, its Aurora scheduling system, and its SimBionic intelligent toolkit for adaptive task execution. During this project, we will identify and analyze system requirements, develop a concept of operations and high-level system design, develop test scenarios, and implement a prototype that illustrates key elements of the operations and design that we envision.