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NASA Technology Roadmaps TA 4: Robotics and Autonomous Systems NASA Technology Roadmaps TA 4: Robotics and Autonomous Systems May 2015 Draft 2015 NASA Technology Roadmaps DRAFT TA 4: Robotics and Autonomous Systems Foreword NASA is leading the way with a balanced program of space exploration, aeronautics, and science research. Success in executing NASA’s ambitious aeronautics activities and space missions requires solutions to difficult technical challenges that build on proven capabilities and require the development of new capabilities. These new capabilities arise from the development of novel cutting-edge technologies. The promising new technology candidates that will help NASA achieve our extraordinary missions are identified in our Technology Roadmaps. The roadmaps are a set of documents that consider a wide range of needed technology candidates and development pathways for the next 20 years. The roadmaps are a foundational element of the Strategic Technology Investment Plan (STIP), an actionable plan that lays out the strategy for developing those technologies essential to the pursuit of NASA’s mission and achievement of National goals. The STIP provides prioritization of the technology candidates within the roadmaps and guiding principles for technology investment. The recommendations provided by the National Research Council heavily influence NASA’s technology prioritization. NASA’s technology investments are tracked and analyzed in TechPort, a web-based software system that serves as NASA’s integrated technology data source and decision support tool. Together, the roadmaps, the STIP, and TechPort provide NASA the ability to manage the technology portfolio in a new way, aligning mission directorate technology investments to minimize duplication, and lower cost while providing critical capabilities that support missions, commercial industry, and longer-term National needs. The NASA 2015 Technology Roadmaps are comprised of 16 sections: The Introduction, Crosscutting Technologies, and Index; and 15 distinct Technology Area (TA) roadmaps. Crosscutting technology areas, such as, but not limited to, avionics, autonomy, information technology, radiation, and space weather span across multiple sections. The introduction provides a description of the crosscutting technologies, and a list of the technology candidates in each section. TA 4 - 2 2015 NASA Technology Roadmaps DRAFT TA 4: Robotics and Autonomous Systems Table of Contents Executive Summary . 4-4 Introduction . 4-11 4.1 Sensing and Perception .. ...... .... .. ...... ..... ..... ...... .... ..4-11 4.2 Mobility . ... ... .... .. ......... ...... .... ... ...... ..... ...... ...4-11 4.3 Manipulation ........ .......... ....... .... ... ....... .......... ...... 4-13 4.4 Human-System Interaction .......... ... ....... ........... ...... .... ... 4-13 4.5 System-Level Autonomy ........ ........... .......... .......... ........ 4-14 4.6 Autonomous Rendezvous and Docking ......... ........... .......... ....... 4-14 4.7 Systems Engineering ...... ........... .......... .......... ........... ... 4-15 TA 4 .1: Sensing and Perception . 4-16 Sub-Goals .. .......... .......... ........... .......... ........... ....... 4-16 TA 4 .2: Mobility . 4-23 Sub-Goals ...... ........... .......... .......... ........... .......... ... 4-23 TA 4 .3: Manipulation . 4-35 Sub-Goals ...... ........... .......... .......... ........... .......... ... 4-35 TA 4 .4: Human-System Interaction . 4-43 Sub-Goals ...... ........... .......... .......... ........... .......... ... 4-43 TA 4 .5: System-Level Autonomy . 4-50 Sub-Goals ...... ........... .......... .......... ........... .......... ... 4-50 TA 4 .6: Autonomous Rendezvous and Docking . 4-58 Sub-Goals . 4-58 TA 4 .7: Systems Engineering . 4-63 Sub-Goals ...... ........... .......... .......... ........... .......... ... 4-63 Appendix . 4-71 Acronyms .... .......... ........... .......... ........... .......... ...... 4-71 Abbreviations and Units ...... ........... .......... ........... .......... ... 4-74 Contributors ....... ........... .......... .......... ........... .......... .. 4-76 Technology Candidate Snapshots. 4-77 TA 4 - 3 2015 NASA Technology Roadmaps DRAFT TA 4: Robotics and Autonomous Systems Executive Summary This is Technology Area (TA) 4: Robotics and Autonomous Systems, one of 16 sections of the 2015 NASA Technology Roadmaps. The Roadmaps are a set of documents that consider a wide range of needed technologies and development pathways for the next 20 years (2015-2035). The roadmaps focus on “applied research” and “development” activities. In the coming decades, robotics and autonomous systems will continue to change the way space is explored in even more fundamental ways, impacting both human and science exploration. For human exploration, the goal is to leverage robots in all phases: as precursor explorers that precede crewed missions, as crew helpers in space, and as caretakers of assets left behind. As humans continue to work and live in space, they will start relying on intelligent and versatile robots to perform mundane activities, freeing human and ground teams to tend to more challenging tasks that call for human cognition and judgment. For science exploration, future generations will continue to send space robots to blaze new trails on distant and hostile worlds, extending the reach of the human race. Smarter and more agile space robots will be better equipped to sense and react to anomalies onboard, making them less dependent on the ground crew. Robots will play a key role in the surveying, observation, extraction, and close examination of planetary surfaces, their natural phenomena, their terrain composition, and their resources. The information they gather will further our understanding of the origins and dynamics of our solar system and expand our knowledge of the universe. For both human and science missions, robots will also play a crucial role in in-space operations, whether it be for assembling a large space telescope, capturing and returning an asteroid, repairing a satellite, deploying an infrastructure on a planetary surface for subsequent human arrival, mining space resources, or deploying assets for a scientific investigation. Goals The goal of robotics and autonomous systems is to extend our reach into space, expand our planetary access capability and our ability to manipulate assets and resources to help us understand planetary bodies using remote and in-situ sensors, prepare them for human arrival, support our crews in their space operations, support the assets they leave behind, and enhance the efficacy of our operations.Advances in robotic sensing and perception, mobility and manipulation, rendezvous and docking, onboard and ground-based autonomous capabilities, and human-systems integration will drive these goals. Table 1. Summary of Level 2 Technology Areas 4.0 Robotics and Autonomous Goals: Extend our reach into space, expand our planetary access capability and our ability to Systems manipulate assets and resources, prepare planetary bodies for human arrival, support our crews in their space operations, support the assets they leave behind, and enhance the efficacy of our operations. 4.1 Sensing and Perception Sub-Goals: Provide situational awareness for exploration robots, human-assistive robots, and autonomous spacecraft; and improve drones and piloted aircraft. 4.2 Mobility Sub-Goals: Reach and operate at sites of scientific interest in extreme surface terrain or free-space environments. 4.3 Manipulation Sub-Goals: Increase manipulator dexterity and reactivity to external forces and conditions while reducing overall mass and launch volume and increasing power efficiency. 4.4 Human-System Interaction Sub-Goals: Enable a human to rapidly understand the state of the system under control and effectively direct its actions towards a new desired state. 4.5 System-Level Autonomy Sub-Goals: Enable extended-duration operations without human intervention to improve overall performance of human exploration, robotic missions, and aeronautics applications. TA 4 - 4 2015 NASA Technology Roadmaps DRAFT TA 4: Robotics and Autonomous Systems Table 1. Summary of Level 2 Technology Areas - Continued 4.0 Robotics and Autonomous Goals: Extend our reach into space, expand our planetary access capability and our ability to Systems manipulate assets and resources, prepare planetary bodies for human arrival, support our crews in their space operations, support the assets they leave behind, and enhance the efficacy of our operations. 4.6 Autonomous Rendezvous Sub-Goals: Provide a robust and safe autonomous rendezvous and docking capability for human and robotic and Docking systems. 4.7 Systems Engineering Sub-Goals: Provides a framework for understanding and coordinating the complex interactions of robotic systems and achieving the desired system requirements. Benefits Robotics and autonomous systems will enable the next frontier in exploration by providing greater access beyond human spaceflight limitations in the harsh environment of space and by providing greater operational handling that extends astronauts’ capabilities. Autonomous systems would reduce the cognitive load on humans given the abundance of information that has to be reasoned upon in a timely fashion. They will be critical for improving human and systems’ safety. Robotics and autonomy are also a force multiplier, enabling the deployment and operation of multiple assets without an equivalent increase in ground support. These technologies would reduce the cost and risk of spaceflight, both human and robotic,
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