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RAPID: Collaboration Results from Three NASA Centers in Commanding/Monitoring Lunar AssetsThree NASA centers are working together to address the challenge of operating robotic assets in support of human exploration of the Moon. This paper describes the combined work to date of the Ames Research Center (ARC), Jet Propulsion Laboratory (JPL) and Johnson Space Center (JSC) on a common support framework to control and monitor lunar robotic assets. We discuss how we have addressed specific challenges including time-delayed operations, and geographically distributed collaborative monitoring and control, to build an effective architecture for integrating a heterogeneous collection of robotic assets into a common work. We describe the design of the Robot Application Programming Interface Delegate (RAPID) architecture that effectively addresses the problem of interfacing a family of robots including the JSC Chariot, ARC K-10 and JPL ATHLETE rovers. We report on lessons learned from the June 2008 field test in which RAPID was used to monitor and control all of these assets. We conclude by discussing some future directions to extend the RAPID architecture to add further support for NASA's lunar exploration program.


Document ID
20150014702
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Torres, R. Jay
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Allan, Mark
(Stinger Ghaffarian Technologies, Inc. (SGT, Inc.) Moffett Field, CA, United States)
Hirsh, Robert
(NASA Johnson Space Center Houston, TX, United States)
Wallick, Michael N.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 3, 2015
Publication Date
March 7, 2009
Subject Category
Man/System Technology And Life Support
Meeting Information
Meeting: IEEE Aerospace Conference
Location: Big Sky, MT
Country: United States
Start Date: March 7, 2009
End Date: March 14, 2009
Sponsors: Institute of Electrical and Electronics Engineers, American Inst. of Aeronautics and Astronautics, PHM Society
Distribution Limits
Public
Copyright
Other

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