This project develops a framework for deploying multi-robot teams on man-made structures for continual inspection, structural health monitoring, and minor repair tasks.
Within this framework, sensory information obtained by a coordinated group of mobile robots is pooled, resulting in a diagnosis of the state of the structure on which the robots roam. In addition, methodologies for endowing the robots with the ability to self-diagnose are being explored. These topics involve the integration of advanced probabilistic, geometric, and mechanics-based computations.
The results of this research are expected to enhance the robustness, lifetime, and range of applicability of robotic systems. Research results will be leveraged by collaborating with external research labs.
The robots and structures in the testbed being developed in this project, which are scaled down models of real-world systems, are ideal for student projects. Participation by undergraduates and local high-school students on research projects in the PI's lab will serve as a model for increasing interest in engineering research among these groups.
In terms of Intellectual Merit, This project developed a framework for deploying teams of cooperating robots for continual inspection, structural health monitoring, and minor repair tasks in remote environments. Within this framework, sensory information obtained by a coordinated group of mobile robots is pooled, resulting in a team diagnosis Moreover, methodologies for endowing the robots with the ability to self-diagnose (or diagnose other members of the team) were explored. These topics involved the integration of advanced probabilistic, geometric, and mechanics-based computations. The results of this research are expected to enhance the robustness, lifetime, and range of applicability of robotic systems. Robots were developed in a laboratory testbed for this project, which are scaled down models of real-world systems. In terms of Broader Impact, participation by undergraduates and local high-school students on research projects in the PI's lab serve as a model for increasing interest in engineering research among these groups. Over the duration of the whole award (including the initial three years of funding and one year of no-cost extension), half a dozen high-school students (most from under-represented groups) worked in the PI's lab. A similar number of undergraduates did as well. Moreover, over the whole duration of this project partial financial support for three different PhD students was made possible by their participation in this project. One of these has graduated and is employed in a large research laboratory. Two of these students are now near the end of their studies, and will soon contribute to the research infrastructure of our country.
