Description: The Mobility Coordinator consists of two layers: 1) Mobility coordination and control to meet path following requirements and 2) Per-wheel state estimation and control to optimize mobility performance in rugged terrain with granular material inherent on the Moon. Aspects of the Mobility Coordinator are currently being matured to meet the requirements for the upcoming VIPER mission, but the fundamental underpinnings of the software algorithms do not require a VIPER-like configuration. The general and modular formulation of this software is the primary focus of this development and can provide a new onboard offering for other mobility systems of varying size, utility, and operational requirements for future missions to the lunar surface. Once matured, the Mobility Coordinator will provide a substantial benefit to commercial space companies, as well as for future NASA missions, to enable safe, efficient, and expanded mobility capabilities for lunar operations. The Mobility Coordinator will directly support global lunar utilization specifically in the areas of: In-situ Resource Utilization (ISRU); autonomous construction, safe and efficient mobility, and expanded lunar surface access. Complex mobility operations on the Moon require a smarter balance between software and hardware. The Mobility Coordinator would make a significant impact on the commercial space sector as there is currently no commercial offering for modular, mobility software currently available on the market that can be easily integrated and optimized for various mobility systems. The Mobility Coordinator would directly benefit multiple NASA goals and objectives for upcoming Artemis missions, as well as support complimentary programs such as the Commercial Lunar Payload Services (CLPS), Lunar Terrain Vehicle Services (LTVS), and future technology demonstration missions.

Benefits: The Mobility Coordinator will directly support global lunar utilization specifically in the areas of: In-Situ Resource Utilization; autonomous construction, safe and efficient mobility, and expanded lunar surface access. A generalized wheel-terrain interaction state estimation and control software that is adaptable to multiple rover configurations, such as the Mobility Coordinator, does not exist on current designs of planetary rovers and is not currently offered commercially. For flight mobility systems, the current state-of-the-art is one-off software which satisfies some of the core functions of the Mobility Coordinator: entrapment detection, response, and coordinated traction control, which is tightly coupled with the full design of the rover system and often requires significant development time and testing resources for configuration and validation. The Mobility Coordinator is modular, can be as simple or complex as desired, and can be easily integrated to various mobility platforms to enhance mission safety and performance for NASA missions, as well as enable new lunar surface capabilities for commercial space companies. The result of this Tipping Point will be Commercial Off-The-Shelf (COTS), or at a minimum, Modified Off-The- Shelf (MOTS) software that will be available for rapid infusion for future NASA and commercial surface mobility systems.