ProtoInnovations, LLC SBIR Phase II Award, July 2021

ProtoInnovations, LLC proposes to continue applied research and development, mature, and validate dynamically reconfigurable software and mobility architectures (DRSOMA) for robotic planetary rovers to maximize locomotion capabilities inherent on current rover designs as well as foster the creation of new rover designs that can switch between locally optimal locomotion controllers to enable globally optimal mobility in uncharacterized environments.nbsp;DRSOMArsquo;s architecture allows for a variety of intelligent locomotion controls to be exercised. Transition from control mode to control mode happens in real-time and is seamless.nbsp;A rover equipped with DRSOMA can switch control modes on the fly, allowing it to adapt more effectively and efficiently to various terrain and environmental conditions. In addition, DRSOMArsquo;s architecture facilities multiple perception and cognition software solutions. A DRSOMA-equipped rover can accommodate multiple sensors and sensing modalities, and a variety of perception algorithms to process and interpret sensor data. Lastly,nbsp;DRSOMA accommodates and can effectively control rovers that change their electromechanical configuration on the fly, for example rovers with shape-changing wheels, semi-active and active suspensions, etc.nbsp;nbsp;