The importance of autonomy in robotics is magnified when the robots need to be deployed and operated in areas that are too dangerous or not accessible for humans, ranging from disaster areas (to assist in emergency situations) to Mars exploration (to uncover the mystery of our neighboring planet). The DARPA Subterranean (SubT) Challenge presents a great opportunity and a formidable robotics challenge to foster such technological advancement for operations in extreme and underground environments. Robot teams are expected to rapidly map, navigate, and search underground environments including natural cave networks, tunnel systems, and urban underground infrastructure. Subterranean environments pose significant challenges for manned and unmanned operations due to limited situational awareness. In the first phase of the DARPA Subterranean Challenge (held in August 2019; targeting underground tunnels and mines), Team CoSTAR, led by NASA JPL, placed second among 11 teams across the world, accurately mapping several kilometers of two mine systems and localizing 17 target objects in the course of four one-hour missions. While the main goal of Team CoSTAR at the end of this threeyear challenge (August 2021) is a fully autonomous robotic solution, this paper describes Team CoSTAR’s results in the first phase of the challenge (August 2019), focusing on supervised autonomy of a multi-robot team under severe communication constraints. This paper also presents the design and initial results obtained from field test campaigns conducted in various tunnel-like environments, leading to the competition.

Otsu, Kyohei↗

NASA NTRS2020

Concept for a Distributed, Modular, In-Space Robotically Assembled, RF Communication Payload in GEO

UNKNOWN

Mukherjee, Rudranarayan↗

NASA NTRS2020

Supervised Autonomy for Communication-Degraded Subterranean Exploration by a Robot Team

UNKNOWN

Agha-mohammadi, Ali-akbar↗

NASA NTRS2010

Rationale, Scenarios, and Profiles for the Application of the Internet Protocol Suite (IPS) in Space Operations

This greenbook captures some of the current, planned and possible future uses of the Internet Protocol (IP) as part of Space Operations. It attempts to describe how the Internet Protocol is used in specific scenarios. Of primary focus is low-earth-orbit space operations, which is referred to here as the design reference mission (DRM). This is because most of the program experience drawn upon derives from this type of mission. Application profiles are provided. This includes parameter settings programs have proposed for sending IP datagrams over CCSDS links, the minimal subsets and features of the IP protocol suite and applications expected for interoperability between projects, and the configuration, operations and maintenance of these IP functions. Of special interest is capturing the lessons learned from the Constellation Program in this area, since that program included a fairly ambitious use of the Internet Protocol.

Benbenek, Daniel B.↗

NASA NTRS2007

Space-Based Voice over IP Networks

In human space exploration missions (e.g. a return to the Moon and for future missions to Mars), there will be a need to provide voice communications services. In this work we focus on the performance of Voice over IP (VoIP) techniques applied to space networks, where long range latencies, simplex links, and significant bit error rates occur. Link layer and network layer overhead issues are examined. Finally, we provide some discussion on issues related to voice conferencing in the space network environment.

voice conferencing↗

NASA NTRS2006

An Approach to Integrated Spectrum Efficient Network Enhanced Telemetry (iSENET))

As the integrated Network Enhanced Telemetry (iNET) program moves forward in resolving systems engineering design and architecture definition, critical technology "gaps" and a migration path to realizing the integration of this technology are needed to insure a smooth transition from the current legacy point to point telemetry links to a network oriented telemetry system. Specifically, identified by the DoD aeronautical telemetry community is the need for a migration to a network solution for command, control, and transfer of test data by optimizing the physical, data link, and network layers. In this paper, we present a network-centric telemetry approach based on variants of 802.11 that leverages the open standards as well as the previous Advanced Range Telemetry (ARTM) work on the physical layer waveform. Specifically, we present a burst modem approach based on the recent AOFDM 802.11a work, a TDMA-like MAC layer approach based on 802.11e, and then add additional MAC layer features to allow for the multi-hop aeronautical environment using a variant of the current working standards of 802.11s. The combined benefits of the variants obtained from 802.11a, 802.11e, and 802.11s address the needs for both spectrum efficiency in the aeronautical environment and the iNET program.

TDMA↗