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RIVeR-Lab · Oct 11, 2023 · 840f808 · 840f808
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+---
+layout: default
+title: CAD Models
+nav_order: 2
+---
+<head>
+<style>
+.flex {
+  display: flex;
+  flex-flow: row wrap; /* Shorthand for flex-direction: row and flex-wrap: wrap */
+}
+.flex li {
+  flex-basis: 50%; /* or width: 50% */
+}
+</style>
+</head>
+
+<div class="header-adder">
+<div class="title_set">
+    <h1>CAD Models</h1>
+</div>
+
+The designs for the prototype system were developed using <a href="https://www.autodesk.com/products/fusion-360/overview">Autodesk Fusion 360</a>. The core models are linked below.
+
+From these links, downloads are available in the following file formats:
+
+<ul class="flex">
+  <li>Fusion 360 Archive</li>
+  <li>Inventor 2021</li>
+  <li>IGES</li>
+  <li>SAT</li>
+  <li>SMT</li>
+  <li>STEP</li>
+  <li>DWG</li>
+  <li>IGES</li>
+  <li>DXF</li>
+  <li>STL</li>
+  <li>FBX</li>
+  <li>SketchUp</li>
+  <li>OBJ</li>    
+</ul>
+
+<h2>Hub Robot</h2>
+<p>The CAD for the hub robot can be downloaded <a href="https://a360.co/3mxoAN2">at this link</a>.</p>
+
+<h2>Rover</h2>
+<p>The CAD for the rover can be downloaded <a href="https://a360.co/3SI4afL">at this link</a>.</p>
+
+<h2>Battery Module</h2>
+<p>The CAD for the battery module can be downloaded <a href="https://a360.co/3rLWUGM">at this link</a>.</p>
diff --git a/index.md b/index.md
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+---
+layout: default
+title: Home
+nav_order: 1
+description: "BOOST"
+permalink: /
+---
+
+
+<html lang="en-US">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewpoint" content="width=device-width, initial-scale=1.0">
+  <!--<link rel="stylesheet" href="style.css"> -->
+  <title>Battery-Swapping Multi-Agent System for Sustained Operation of Large Planetary Fleets</title>
+</head>
+<body>
+  <div class="header-adder">
+    <div class="title_set">
+      <h1>Battery-Swapping Multi-Agent System for Sustained Operation of Large Planetary Fleets</h1>
+    </div>
+    <div class="names">
+      <p><strong> Ethan Holand <sup>*</sup><a></a>, Jarrod Homer <sup>*</sup><a></a>, Musheera Khandaker <sup>*</sup><a></a>, Ethan F. Muhlon <sup>*</sup><a></a>, Maulik Patel <sup>*</sup><a></a>, Alex Storrer <sup>*</sup><a></a>, Ben-oni Vainqueur <sup>*</sup><a></a>, <a  href="https://nhanson.io/"  >Nathaniel Hanson</a>, <a  href="https://www.tpadir.info/">Taşkın Padır</a></strong></p>
+  </div>
+
+  <div>
+    <div style="position:relative;padding-top:56.25%;">
+      <iframe src="https://www.youtube.com/embed/pb5BIy4iOmw?si=D0DkIgj3zFI2LxPv"  title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen style="position:absolute;top:0;left:0;width:100%;height:100%;"></iframe>
+    </div>
+  </div>
+
+  </div>
+  <h2>Abstract</h2>
+  <p>In this paper, we propose a novel, heterogeneous multi-agent architecture that miniaturizes rovers by outsourcing power generation to a central hub. By delegating power generation and distribution functions to a hub, the size, weight, power, and cost (SWAP-C) per rover are reduced, enabling efficient fleet scaling. As these rovers conduct mission tasks around the terrain, a hub charges an array of replacement battery modules. When a rover requires charging, it returns to the hub to initiate an autonomous docking sequence and exits with a fully charged battery. This confers an advantage over direct charging methods, such as wireless or wired charging, by replenishing a rover in minutes as opposed to hours, increasing net rover uptime. </p>
+  <p> This work shares an open-source platform developed to demonstrate battery swapping on unknown field terrain. We detail our design methodologies utilized for increasing system reliability, with a focus on optimization, robust mechanical design, and verification. Optimization of the system is discussed, including the design of passive guide rails through simulation-based optimization methods which increase the valid docking configuration space by 258\%. The full system was evaluated during integrated testing, where an average servicing time of 98 seconds was achieved with a 100\% success rate on surfaces with a gradient up to 10\degree. We conclude by briefly proposing flight considerations for advancing the system toward a space-ready design. In sum, this prototype represents a proof of concept for autonomous docking and battery transfer on field terrain, advancing its Technology Readiness Level (TRL) from 1 to 3.</p>
+
+
+
+<div style="text-align: center;">
+  <figure>
+      <img src="./media/boostglamour.jpg" alt="Prototype System Pictured Outdoors">
+    <figcaption>Field Testing of the prototype battery-swapping multi-agent rover architecture.
+    </figcaption>
+  </figure>
+</div>
+
+</body>
+</html>
+∗These authors contributed equally
diff --git a/media/boostglamour.jpg b/media/boostglamour.jpg