Description: ProtoInnovations, LLC proposes to continue the advancement and maturation of the Rover-Based Non-Prehensile Manipulation for Improved Mobility, Scientific Exploration and Terrain Shaping on Planetary Surfaces (RBNPM, NASA Phase II SBIR Contract #80NSSC19C0215) software control architecture and algorithms to enable robotic rovers to perform autonomous or semi-autonomous excavating, transporting, and depositing of lunar regolith during In-situ Resource Utilization (ISRU) missions. The central idea of this work is that robots can accomplish a multitude of terrain-altering tasks by intelligently sequencing active driving, steering motions, and/or dedicated tools for lunar surface operations. The RBNPM software architecture, is behavior-based and driven by multiple hierarchical layered primitives. Primitives are independent, modular, and generalizable, open-loop or closed-loop controllers that represent the smallest control element/module that can be implemented to produce a recognizable behavior or functionality. The overarching taxonomy of primitives exists at four levels of the architecture; mission, actions, operations, and signals. This new technology can amplify the performance of future NASA lunar surface systems for ISRU and construction operations in many ways. First, the modularity and configurability of the software architecture enables the primitives and software to be used on multiple platforms of different robotic configurations. This unique feature will allow for more standardization for future surface systems and provide new capability in space robotics software for NASA as well as for commercial space companies. Second, the architecture is controller-centric which enables real-time flexibility to achieve multiple operational objectives for increased safety, efficiency, or capability that can be selected and configured autonomously or by teleoperators, ideal for complex missions on the lunar surface.

Benefits: The RBNPM software control architecture and algorithms are applicable to any robotic mobility system envisioned to support lunar ISRU missions and operations. The RBNPM technology is modular and scalable and as such applicable to rover classes ranging from small CLPS rovers to large robotic vehicles for excavation, construction, and outfitting. Our primary goal is to infuse this technology to the ISRU Pilot Excavator. We will also seek to validate elements of RBNPM on VIPER in post-primary mission operations using the rover's flight controls.

The RBNPM technology could transform mining, construction, farming, infrastructure, and utility applications that call for robust and innovative solutions to automation of work activities. Where the cost of additional complexity is prohibitive, this technology promises to be the next standard, integratedby Original Equipment Manufacturers into a variety of vehicles and machinery.