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Control Algorithms and Simulated Environment Developed and Tested for Multiagent Robotics for Autonomous Inspection of Propulsion SystemsThe NASA Glenn Research Center and academic partners are developing advanced multiagent robotic control algorithms that will enable the autonomous inspection and repair of future propulsion systems. In this application, on-wing engine inspections will be performed autonomously by large groups of cooperative miniature robots that will traverse the surfaces of engine components to search for damage. The eventual goal is to replace manual engine inspections that require expensive and time-consuming full engine teardowns and allow the early detection of problems that would otherwise result in catastrophic component failures. As a preliminary step toward the long-term realization of a practical working system, researchers are developing the technology to implement a proof-of-concept testbed demonstration. In a multiagent system, the individual agents are generally programmed with relatively simple controllers that define a limited set of behaviors. However, these behaviors are designed in such a way that, through the localized interaction among individual agents and between the agents and the environment, they result in self-organized, emergent group behavior that can solve a given complex problem, such as cooperative inspection. One advantage to the multiagent approach is that it allows for robustness and fault tolerance through redundancy in task handling. In addition, the relatively simple agent controllers demand minimal computational capability, which in turn allows for greater miniaturization of the robotic agents.
Document ID
20050216394
Document Type
Other
Authors
Wong, Edmond
(NASA Glenn Research Center Cleveland, OH, United States)
Date Acquired
September 7, 2013
Publication Date
June 1, 2005
Publication Information
Publication: Research and Technology 2004
Subject Category
Aircraft Propulsion And Power
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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