Distributed Robotics 1. The Distributed Robotics program is co-managed by Dr. Regina Dugan in the DARPA Defense Sciences Office. Technical support is provided by Dr. Elana Ethridge from the Systems Planning Corporation. The program was inspired from a series of discussion during 1997 about the concept of "rats and locusts". The concept is derived from the fact that one rat or a single locust has little intelligence and are relatively harmless when acting alone. However, herds or swarms of rats or locusts can have a devastating impact. 2. It has been subsequently determined that the average rat is quite capable; those capabilities are enumerated here. 3. An objective of the Distributed Robotics program is to combine state-of-the-art microelectronics, optoelectronics, MEMS, RF, acoustic, and human interface technologies to develop robots that are less than 5 cm in any dimension. Accomplishing this task requires the development of new and novel techniques to design small systems. These robots will be used to augment and extend the capabilities of individual warriors and small teams operating in military environments. This program is a technology program with a systems flair. We are trying to learn what is possible and then match these capabilities to military missions. 4. The ability to scale conventional robot designs becomes exponentially more difficult as the size decreases below 10 to 15 centimeters. At less than 5 centimeters, designs must consider the optimal combinations of form and function where components have multiple uses (i.e., wheels and watch batteries are the same component). Linear, area, and volume metrics scale with different exponential values making it difficult to decrease the size of individual components while maintaining the overall dimensional integrity of the design. Small robots typically have less mobility than their larger relatives. Innovative methods of locomotion to overcome obstacles and enable larger traveling distances are required. Biology may be able to provide inspiration for some evolutionary successful designs. While we have the ability to build systems from the size of teacups to skyscrapers and also fabricate microcircuits with sub-micron features, we have less impressive capability to assemble systems in the 1 mm to 5 cm range. At this size range we need to be able to integrate sensors, communication, processing, mobility and energy sources. These small systems need electrical and mechanical interfaces that allow them to interact with the real world in an energy constrained environment. There are two types of control strategies that are needed for small robots. The first is a strategy for the individual robot to control its own behavioral traits. The second is strategies needed to control collaborative groups of small robots. Finally, simple interface designs that allow humans to direct the operation of individuals or groups is needed. 5. Contracts and Points of Contact: Contract POC Phone Email Program Title Carnegie Mellon University Pradeep Khosla 412-268-5090 pkk@ices.cmu.edu Distributed Control of Collaborating Robot System Case Western Reserve University Roger Quinn 216-368-3222 rdq@po.cwru.edu Biologically Inspired Micro-Robots California Institute of Technology Rodney Goodman 626-395-6740 rogo@caltech.edu Univeristy of Minnesota Nikos Papanikolopoulos 612-625-0163 npapas@cs.umn.edu Distributed Robotics Using Reconfigurable Robots Northwestern University Ian Horswill 847-467-1256 ian@cs.nwu.edu Shared Semantic Representations for Coordinating Distributed Robot Teams UCLA Behzad Razavi 310-206-1633 razavi@ee.ucla.edu Integrated Wireless Micropower Communications Subsystem for Micro-Robots North Carolina State University Paul Franzon 919-515-7351 paulf@ncsu.edu Planar Processed Robots Duke University Hugh Crenshaw 919-660-7380 crenshaw@duke.edu MicroHunters Xerox Palo Alto Research Center Mark Yim 650-812-4806 yim@parc.xerox.com Massively Distributed Modular Reconfigurable Robots University of Michigan Khalil Najafi 734-763-6650 najafi@engin.umich.edu Micromachined Acoustic Ejector Arays for Propulsion, Actuation and Control Michigan State University R. Lal Tummala 517-355-7453 tummala@egr.msu.edu Reconfigurable Adaptable Micro-Robots Sandia National Laboratories Johnny Hurtado 505-844-5374 jhurta@sandia.gov or Ray Byrne 505-844-8716 rhbyrne@sandia.gov University of Southern California Peter Will 310- 822-1511 ext. 796 will@isi.edu CONRO: Configurable Robots 6. The University of Minnesota is building a 40mm diameter robot that will be capable of being fired from a M203 Grenade Launcher mounted on an M-16 rifle. This will give the robot extra initial mobility and allow the robot to be inserted into the upper floors of buildings through the windows. The robot can also be thrown. The robot is a cylinder with wheels at each end that will be capable of rolling. It will have a spring actuated arm that will allow the robot to jump about one meter. It will include a variety of sensors including a camera used both for navigation and for acquiring intelligence. Several communication modes are being investigated. During the first year demonstration, the robot will be thrown or shot through a window and locate chemical and vibration sources and locate people. 7. Sandia National Laboratory had developed a one cubic inch robot that is able to overcome objects larger than itself. This novel design can also slip under doors and other difficult to access places. The robot will be equipped with sensors and communications components. Multiple robots will be able to trace plumes to their source using distributed and decentralized algorithms. The first year demonstration will focus upon this plume tracing problem in a laboratory. 8. Michigan State University is developing an inch worm robot. It will use miniature pumps to create suction in the cups. A belt arrangement will cause the following leg to flip over the leading leg in a vertical climb. While it is envisioned that the robot can traverse different terrain, the initial designs will be limited to those with fairly smooth surfaces. The robot will incorporate a camera and communications chip to provide a human with pictures. MI State is also developing control software and algorithms that will allow multiple robots to operate collaboratively. 9. The University of Michigan is developing a flying robot that is fabricated primarily from silicon. The basic component is a micromachined helmholtz resonator that operates at acoustic frequencies and creates a low pressure area in an acoustic ejector. An array of these acoustic ejectors on a wafer of silicon, whose center contains processing and communications components, will provide lift. A separate array of vectored ejectors could provide steering. The first year demonstration will attempt to show levitation of the platform. 10. North Carolina State University is developing a planar process robot that will contain a variety of piezoelectric legs for walking. For jumping, legs on the top and bottom will be connected via a piezoelectric ratcheting mechanism that compresses the legs and then releases them. The robot will contain sensors and a microcontroller. 11. Xerox PARC is developing a reconfigurable robot that is composed of 5 cm modules that can autonomously reconfigure themselves. Xerox will attempt to demonstrate the ability to change configurations from a snake to a track to a legged robot. Unique interconnections of modules structured in the shape of dodecahedrons allow a variety of surfaces for which module connections can be made. 12. USC Information Science Institute is also developing a reconfigurable robot that can change from a track to a caterpillar. Modular construction will allow sensors, processors and communication chips to be incorporated. 13. Duke University will develop an aquatic robot that will swim against one of several vector fields. These simple and small robots operate on the principle of helical klinotaxis similar to small, aquatic organisms in nature. As they travel, they trace out a helical path. This movement allows a sensor to cover an wide pattern and be able to effectively search a constrained space. In September, the MicroHunters will swim in pool and track a light to its source. 14. New BAA will be issued in August 1999.