TABLE G.1 Technology Area Breakdown Structure for TA04, Robotics, Tele-Robotics, and Autonomous Systems

NASA Draft Roadmap (Revision 10) Steering Committee-Recommended Changes
TA04 Robotics, Tele-Robotics and Autonomous (RTA) Systems The technologies have been largely rewritten.
   

4.1.     Sensing and Perception

4.1.     Sensing and Perception

4.1.1.    Stereo Vision

4.1.1.    Vision

4.1.2.    LIDAR

4.1.2.    Tactile Sensing

4.1.3.    Proximity Sensing

4.1.3.    Natural Feature Image Recognition

4.1.4.    Sensing Non-Geometric Terrain Properties

4.1.4.    Localization and Mapping

4.1.5.    Estimating Terrain Mechanical Properties

4.1.5.    Pose Estimation

4.1.6.    Tactile Sensing Arrays

4.1.6.    Multi-Sensor Data Fusion

4.1.7.    Gravity Sensors & Celestial Navigation

4.1.7.    Mobile Feature Tracking and Discrimination

4.1.8.    Terrain Relative Navigation

4.1.8.    Terrain Classification and Characterization

4.1.9.    Real-time Self-calibrating of Hand-eye Systems

 

4.2.     Mobility

4.2.     Mobility

4.2.1.    Simultaneous Localiz. and Mapping

4.2.1.    Extreme Terrain Mobility

4.2.2.    Hazard Detection Algorithms

4.2.2.    Below-Surface Mobility

4.2.3.    Active Illumination

4.2.3.    Above-Surface Mobility

4.2.4.     3-D Path Planning w/Uncertainty

4.2.4.    Small Body/Microgravity Mobility

4.2.5.    Long-life Extr. Enviro. Mechanisms

 

4.2.6.    Robotic Jet Backpacks

 

4.2.7.    Smart Tethers

 

4.2.8.    Robot Swarms

 

4.2.9.    Walking in Micro-g

 

4.3.     Manipulation

4.3.     Manipulation

4.3.1.    Motion Planning Alg., High DOF

4.3.1.    Robot Arms

4.3.2.    Sensing and Control

4.3.2.    Dexterous Manipulators

4.3.3.    Robot Arms (light, high strength)

4.3.3.    Modeling of Contact Dynamics

4.3.4.    Dexterous Manipul., Robot Hands

4.3.4.    Mobile Manipulation

4.3.5.    Sensor Fusion for Grasping

4.3.5.    Collaborative Manipulation

4.3.6.    Grasp Planning Algorithms Robotic Drilling Mechanisms

4.3.6.    Robotic Drilling and Sample Processing

4.3.7.    Multi-arm/Finger Manipulation

 

4.3.8.    Planning with Uncertainty

 

4.4.     Human-Systems Integration

4.4.     Human-Systems Integration

4.4.1.    Crew Decision Support Systems

4.4.1.    Multi-Modal Human-Systems Interaction

4.4.2.    Immersive Visualization

4.4.2.    Supervisory Control

4.4.3.    Distributed Collaboration

4.4.3.    Robot-to-Suit Interfaces

4.4.4.    Multi Agent Coordination

4.4.4.    Intent Recognition and Reaction

4.4.5.    Haptic Displays

4.4.5.    Distributed Collaboration

4.4.6.    Displaying Range Data to Humans

4.4.6.    Common Human-Systems Interfaces

 

4.4.7.    Safety, Trust, and Interfacing of Robotic/Human Proximity Operations

4.5.     Autonomy

4.5.     Autonomy

4.5.1.    Spacecraft Control Systems

4.5.1.    Vehicle System Management and FDIR

4.5.2.    Vehicle Health, Prog/Diag Systems

4.5.2.    Dynamic Planning and Sequencing Tools

4.5.3.    Human Life Support Systems

4.5.3.    Autonomous Guidance and Control

4.5.4.    Planning/Scheduling Resources

4.5.4.    Multi-Agent Coordination

4.5.5.    Operations

4.5.5.    Adjustable Autonomy

4.5.6.    Integrated Systems Health Management

4.5.6.    Terrain Relative Navigation

4.5.7.    FDIR and Diagnosis

4.5.7.    Path & Motion Planning with Uncertainty

4.5.8.    System Monitoring and Prognosis

 

4.5.9.    V&V of Complex Adaptive Systems

 

4.5.10.    Automated Software Generation

 

4.5.11.    Software Reliability

 

4.5.12.    Semi Automatic Systems

 


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