Description: NASA seeks Autonomy Enabling Technologies (AETs) in software, mechanical, or combined forms to enhance autonomy, flexibility, and reliability in various space exploration tasks, including vehicle processing, launch operations, and surface maintenance. AETs employ intelligent algorithms and robotic tools crucial for uncrewed systems in extraterrestrial environments. PickNik proposes developing and testing new and existing Visual Simultaneous Localization and Mapping (V-SLAM) algorithms, as well as high-fidelity 3D simulation environments for surface and launch systems operations, to enable the testing and training of robotic surface operations, including excavation and construction tasks. We will upgrade, merge, and link heritage state of the art simulation environments (Gazebo VIPERSim and LunExt) with Space ROS scenarios to allow for interoperable simulation and operation of a variety of different AET tasks, such as automatic traversals from one location to another. This phase 1 focuses on the development of computer vision-based navigation and mapping techniques via simultaneous localization and mapping (SLAM) algorithms. Phase 1 will test and extend ORB-SLAM3, an innovative form of V-SLAM as a key AET for further Lunar development efforts. The rover's motion model and odometry as well as orientation information from a star tracker system will be added to increase its accuracy and robustness. Additionally, topological features will be labeled via machine learning generated semantic labelings(i.e. rocks, craters, etc) to aid with relocalization and improve map quality. These developments will benefit NASA by improving a variety of autonomous systems including but not limited to mobile based robotic arms, roving systems, and fixed robotic arm systems. Phase 1 will be tested in a software simulation environment, while a future Phase 2 will enhance and mature these capabilities, and include a hardware-based ground demonstration in a mock Lunar environment.

Benefits: NASA's forthcoming Lunar initiatives are oriented towards the establishment of a sustainable human presence on the Moon, transcending conventional Lunar exploration paradigms. This strategic shift entails the development and implementation of a comprehensive infrastructure encompassing launch systems, surface operations, and resource utilization. At the time of writing, Intuitive Machines has just landed a lander on the Lunar surface, heralding the beginning of a new era of Lunar exploration and exploitation. Central to the realization of these ambitions are AETs, which serve as instrumental components governing the autonomous functioning of robotic systems integral to Lunar operations. AETs will play a pivotal role in orchestrating critical tasks, ranging from autonomous propellant management to uncrewed maintenance and repair activities. The strategic deployment of AETs not only mitigates inherent risks associated with Lunar operations but also propels the transition from crewed to uncrewed Lunar missions. Consequently, these technologies serve as linchpins for fostering an autonomous and sustainable Lunar presence, thereby constituting a cornerstone of NASA's strategic Lunar exploration objectives. Space SLAM will benefit NASA by improving a variety of autonomous systems including but not limited to mobile based robotic arms, roving systems, and fixed robotic arm systems. This Space SLAM capability will also be integrated into PickNik's commercially available product MoveIt Pro, and to NASA under SBIR data rights. The combined software reuse that is enabled by Space Robot Operating System (ROS) and our software platform, MoveIt Pro, is critical to accelerating Lunar and other space robotics and well within NASAs interests. Lunar proliferation and ISRU will lead to a revolutionary growth in space markets. Many future robotic systems will integrate a robotic arm and a mobile or moving platform which utilize V-SLAM. Space ROS and Move It Pro will enable software reuse and modularity for these customers, saving time and money, whilst driving reliability up. This Space SLAM capability will be integrated into PickNik's commercially available product MoveIt Pro. This capability will also be valuable for terrestrial mobility and benefit customers such as the Army, Navy, and Air Force. By adding this technology to MoveIt Pro, we are building a more capable and robust product. MoveIt Pro is valuable for many areas of space robotics. PickNik serves automation and robotic needs in the emerging areas of Commercial LEO Destinations (CLD), In-Space Servicing and Manufacturing (ISAM), Active Debris Removal (ADR), Lunar and planetary missions. The space robotics market is estimated to have a total addressable market (TAM) of $58B by 2030. 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). Additionally 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, PickNik is working with the Space Force to develop additional capabilities in MoveIt Pro, specifically around satellite servicing and resident space object capture.