Modular Mobile Docking Station Design

Large scale robotic teams are capable of working independently or cooperatively to carry out a variety of missions. However, for large teams of robots to function for extended periods of time, the individual members of a team must be able to generate or find energy to re-supply themselves. One approach to providing power for a robotic team is to couple larger systems with significant energy reserves so that the smaller systems can be recharged directly from the larger. This paper presents an implementation of such an approach. Here, a modular docking station is given locomotion through the cooperation of two larger robots. The docking station is capable of transporting, deploying, retrieving, and recharging many smaller robots. The kinematic model which will govern the cooperation of the maneuvering robots and will be used to develop control is presented and discussed. The design of the individual bays of the docking station and how they facilitate the deployment, recovery, and recharge of the smaller robots is also presented. The development of this system makes possible a number of applications, including autonomous long-term environmental monitoring and reconnaissance in various locations