• Corpus ID: 210703880

The Shapeshifter: a Morphing, Multi-Agent, Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)

@article{Aghamohammadi2020TheSA,
  title={The Shapeshifter: a Morphing, Multi-Agent, Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)},
  author={Ali-akbar Agha-mohammadi and Andrea Tagliabue and Stephanie Schneider and Benjamin Morrell and Marco Pavone and Jason D. Hofgartner and Issa A. D. Nesnas and Rashied Amini and Arash Kalantari and Alessandra Babuscia and Jonathan I. Lunine},
  journal={ArXiv},
  year={2020},
  volume={abs/2003.08293}
}
In this report for the Nasa NIAC Phase I study, we present a mission architecture and a robotic platform, the Shapeshifter, that allow multi-domain and redundant mobility on Saturn's moon Titan, and potentially other bodies with atmospheres. The Shapeshifter is a collection of simple and affordable robotic units, called Cobots, comparable to personal palm-size quadcopters. By attaching and detaching with each other, multiple Cobots can shape-shift into novel structures, capable of (a) rolling… 
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