We propose the Multi-Agent Anomaly Resolution System (MaARS) for Automated Fault Detection, Diagnostics and Recovery (AFDD-R). Of specific interest is how MaARS can use robotic agents to support the operation & maintenance of habitats on lunar or planetary surfaces or in orbital stations such as Gateway when no human crew is present. Managing such remote robotic agents and spacecraft in the presence of severe communication constraints and limited situational awareness presents a number of challenges---particularly when unexpected faults may require immediate detection and response. To address these challenges, MaARS combines TRACLabs' PHARAOH system for integrating autonomous and semi-autonomous robotic assets into remote mission processes with the Texas A&M University DAPHNE-Anomaly Treatment system. The resulting MaARS system provides an end-to-end solution that can monitor telemetry and perform trend analysis to identify anomalies, provide a recommendation on a resolution based on a knowledge graph relating likely root causes to anomalies, and leverage robotic assets to remedy the likely faults. In our Phase I effort, we determined the requirements for MaARS and devised a suitable Concept of Operations. We developed a candidate proof-of-concept implementation that allowed Daphne to invoke and monitor PHARAOH procedures to support diagnostics---which in turn coordinated the activity of a simulated Astrobee robotic agent to perform a number of information gathering and inspection activities. We also identified a number of dimensions in which the Daphne tool-chain could be extended to engage robotic assets to perform autonomous iterative diagnoses until a confident root cause analysis is made, and to perform repair and recovery tasks using a library of PHARAOH procedure-based skills. In the Phase II work, we will develop the full MaARS prototype and demonstrate the system's capabilities in a number of NASA-relevant contexts.

Multiple near-term missions could benefit from the MaARS technology including ISS/Gateway robots such as Astrobee or next generation IVA manipulators, or Artemis surface robots including the LSMS, VIPER, and RASSOR platforms. Future systems that could benefit from this work includes the in-Space Assembled Telescope (iSAT), Orbital Debris Mitigation, Commercial Lunar Payload Services (CLPS), Mars sample return, Discovery and New Frontiers, exploration mission opportunities like Titan or Europa, and various STMD technology demonstrations.

With the advent of so many commercial space missions, the MaARS technology could also serve to enhance a number of non-NASA efforts that include remote robotic operations for maintaining remote spacecraft (on the surface or in orbit) by Blue Origin, Axiom Space, Nanoracks, Lockheed, GKN Aerospace, Lunar Outpost, Motive Space Systems, Tethers, Spirit Aerosystems, Astrobotic, GM, and Boeing.