Developing a Dependable Multi-Agent Rover Swarm Using cFS

The future of space exploration lies in cooperative autonomous systems. Ensuring their high-integrity remains a challenge. The Robust Software Engineering group at NASA Ames Research Center has been developing the Troupe project to explore the challenges with developing and assuring high-integrity of cooperative autonomous robotic systems. In particular, Troupe aims to develop a swarm of autonomous rovers capable of mapping unknown terrain, and assure their high-integrity using the advanced V&V tools developed in the group. In this paper, we present the evolution of the design of Troupe. We focus on the lessons learned in developing and assuring the rover swarm using core Flight System (cFS). In particular, we discuss the benefits and challenges in applying model-based development to develop the rover swarm.