1. MARS 2020 Kick-Off Meeting 13 November 2002 Georgia Tech

2. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Personnel Faculty –Prof. Ronald Arkin –Prof. Tucker Balch –Dr. Robert Burridge Students –Keith O’Hara –Matt Powers –Patrick Ulam –Alan Wagner

3. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Georgia Tech’s Research Tasks Employ information about the network (BBN) as a sensor for communication sensitive behaviors Develop and assess: –Communication sensitive behaviors –Communication sensitive mission specification tools –Communication sensitive planning (a la Payton’s internalized plans)

4. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Current Focus Infrastructure building (MissionLab) –Addition of 3-dimensional simulation and behaviors. –Visualization tools. –Integration of BBN communications models. –Support for heterogeneous teams. Methodologies Metrics Some initial experiments

5. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Some Initial Results… Task for a robot team: –Navigate to a goal location while maintaining fully connected comm network. Environment: –200 x 200 meter arena. –Scattered, comm- blocking obstacles. Approach: –Integrate preserve-comm motor schema with other navigational schemas.

6. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Navigation without Preserve-Comm

7. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Navigation with Preserve-Comm

8. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Scenario #1 1 Goal 4 Robots spaced by 15m 200m x 200m arena 15% Obstacle coverage –20 random worlds

9. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Scenario #2 4 Goals –Visited in order 4 Robots spaced by15m 200m x 200m arena 15% Obstacle coverage –20 random worlds

10. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Metrics to Assess Performance Time Until Completion –Length of experiment. One Network –Percentage of time spent as one network. Full Network –Percentage of time spent as a fully connected network. Loners –Percentage of time where there was at least one unconnected node.

11. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology One Network

12. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Full Network

13. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Loners

14. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Time Until Completion

15. MARS 2020 Kickoff 13 November 2002 Tucker Balch Georgia Institute of Technology Next Steps Continue: –Infrastructure building. –Continued integration of BBN communications models. –Development and assessment of comm- sensitive behaviors. Begin –Integration with UPenn and USC vehicles. –Integration of plans as resources.