Description: The need for fully and semi-autonomous Lunar Terrain Vehicles (LTV) and Pressurized Rovers (PR) is paramount to establishing a long-term lunar presence. This proposal addresses the critical requirement for innovative autonomous mobile manipulation systems capable of operating in the challenging conditions of the lunar surface, specifically focusing on long-range navigation capabilities. PickNik proposes adding new capabilities to our software platform, MoveIt Pro, that enable the execution of complex mobile manipulation tasks that create a high degree of operator confidence, trust in the system, and that are indicative of a robust and technologically sophisticated solution, all available via a ground control operator interface. We will do this by focusing on two primary goals. First, to develop behavior trees incorporating long distance robot navigation behaviors from Nav2 with MoveIt Pro-based manipulation behaviors. Second, we propose to augment MoveIt Pro's operator frontend to provide similar situational awareness and sliding autonomy capabilities for rover control as are already available for arm control. PickNik's MoveIt product line targets robotics applications that use robot arms for manipulation in many vertical markets. Our technology is multi-use and has had extensive deployments for terrestrial markets such as oil & gas, warehouse logistics, agriculture, healthcare, food preparation, construction, and advanced manufacturing. In the space industry, we are targeting various applications of robot arms and mobile manipulators from Intra Vehicular Robotics (IVR) needs, to In-Space Servicing, Assembly, and Manufacturing (ISAM) applications.

Benefits: The cornerstone of this proposal is an innovation that combines advanced robotic arm control with mobile base navigational capabilities to support mobile manipulation robots. The Artemis program will require fully and semi-autonomous Lunar Terrain Vehicles (LTV) and Pressurized Rovers (PR) to travel long distances and perform tasks with and without local astronaut support. The technology we are developing under this proposal will be ideal for lunar and planetary exploration and development, but also incredibly useful for IVR. By increasing safety and confidence in autonomous robotic systems, we will develop capabilities that can be utilized feet away from astronauts as well as millions of miles away from ground operators. The work to support rover and multi-arm robotic systems will be useful for an array of complex tasks including lunar construction and ISRU. The technology PickNik is developing as part of this proposal will be useful for all groups working on establishing a long-term lunar presence. We will be targeting companies who are a part of the Commercial Lunar Payload Services (CLPS) initiative. PickNik has existing relationships with CLPS companies Astrobotic, Redwire, and Blue Origin. Additionally, By adding this technology to our software platform, MoveIt Pro, we are building a more capable and robust product. MoveIt Pro is valuable for many areas of space robotics such as Commercial LEO Destinations (CLD), In-Space Servicing and Manufacturing (ISAM), and Active Debris Removal (ADR). Key potential customers in the space industry include Axiom Space (CLD), Sierra Space (satellite servicing and CLDs), Blue Origin (satellite servicing), Lockheed (satellite servicing), Northrop Grumman (satellite servicing), Vast Space (CLD), Gravitics (CLD), Think Orbital (CLD), MDA (space arms), Maxar (space arms), Motiv (space arms), Redwire (space arms), and Arkisys (space arms). The efforts to support mobile base and multi-arm robotic systems will prove valuable for a diverse range of complex tasks beyond space for a number of uses — bomb disposal, for example. We have established regular partnerships with major tech firms for terrestrial applications. Our collaborative efforts extend to renowned companies such as Google, Amazon, Hyundai, Johnson & Johnson, Nabors, TechnipFMC, Locus, and Nauticus Robotics. We see all of these existing customers and new ones as taking full advantage of the technology created with this proposal in both known and as-yet-unknown ways.