1. Swarm Robotics in Space Exploration
Samantha Medeiros, Patrick Stepnowski, 
Kleanthis Zymaris, Jack Zendzian,
Professor Aaron Carpenter
Engineering Senior Design, Wentworth Institute of Technology   
Abstract
Proof of Concept
Current space exploration is conducted using satellites and rovers that are sent to extraterrestrial locations such as other planets and asteroids. These satellites and rovers go where researchers and scientists cannot, with the goal of expanding our knowledge of the cosmos. The rovers in use today are limited by their size and cost. The Mars Curiosity rover is as big as a car and it has only managed to travel 11 miles in 5.5 years [1].
This project introduces an alternative to current space exploration using small, lightweight robots working together using swarm intelligence.
The focus of this project is on mapping the surface of Mars, but it can be applied to the exploration of any other location. Each robot is armed with sensors to  map an area and log changes in elevation. Cameras are for the purposes of mapping the surface and will log/document any changes in elevation or obstacles it encounters. 
The swarm intelligence design allows multiple rovers to map different areas in parallel, allowing for more ground to be covered in less time. By communicating wirelessly, each robot shares the data it collects with its neighbors in real time, ensuring each of them has the full picture so that the areas they are mapping do not overlap.
In order to accomplish this, the robots create and maintain a coordinate system, to ensure their relative and absolute locations are accurate. With several robots working together, large swaths of the Martian surface will be mapped quickly and efficiently, helping to expand our understanding of extraterrestrial locations.
Hardware
Currently on Earth we already have robots that can map an area, or work together to pick up objects. Our proof of concept is to build individual systems and test them to see how well they would work on Mars.  
To prove that the robots would be able to know where they are on the planet of Mars we plan on building a base station (Laptop) and two moving robots. Using accelerometers, geometry, odometry and more we would track the position of the robots.
To map a surrounding area we plan on working with a distance sensor. The robots would send that data to the base station to perform calculations and graphing.
To demonstrate the swarm intelligence aspect we plan on having the robots exchange data between themselves to determine what areas have been explored and what areas still need to be visited. The robots would be smart enough to make the decisions on their own and travel to the next mapping zone.
Sensors
Radio
     Transceivers
Robot Platforms
     (iRobot Create)
Microcontrollers
Software
Programming IDE
Gazebo Simulation
Our Solution
Background & Motivation
What is next?
Current space exploration has many challenges such as collecting data, exploration, gathering samples, and more. 
Rovers are slow, heavy, and expensive. They carry mobile science labs and cannot afford to break down. 
The Mars Curiosity Rover only traveled a distance of mi as of February 2018
We will combine each stage of our proof of concepts and the robot platforms we are using to do testing. The plan is to work in a controlled setting like a classroom and then venture from there.
Our design will be improved based on the results and test data that gather. Once we can confidently say that it works on the surface on Mars we plan to design the robots to do more than just mapping.
Figure 1: Opportunity and Spirit on the Jet Propulsion Lab in Pasadena, California [2].
OUR SOLUTION
IS SWARM ROBOTICS!
Figure 4: iRobot Create
Individual robots that communicate and work with each other
Spread out over a larger distance
Disposable robots = Lower Cost
Demonstration Aspect
Simulate the Mars environment with obstacles
Cut communication between robots to show how they can operate with that loss
Simulate what happens if a single robot breaks down    
Show how well the data can be collected and combined 
Show how accurate the positioning and map system is  
Figure 2: Swarm Robotics was inspired and based on the understanding of the functions of insect swarms. 
Figure 3 (To the left): The swarm robotic system is utilized in NASA’s Swarmathon Competition. Small robots are coded to find, pick up, and drop off cubes in a certain area. 
Acknowledgements
References
Professor Aaron Carpenter, Wentworth Institute of Technology
Andrew String, iRobot  
Adam Cantor, iRobot
[1] “Curiosity's Traverse Map Through Sol Mars Science Laboratory.” NASA, NASA, 29 Jan   
[2] "Mars Exploration Rovers." Jet Propulsion Laboratory: California Institute of Technology. NASA, n.d. Web. 27 Mar