We report on the development of the LISA Technology Package (LTP) experiment that will fly onboard the LISA Pathfinder mission of the European Space Agency in 2008. We first summarize the science rationale of the experiment aimed at showing the operational feasibility of the so-called transverse-traceless coordinate frame within the accuracy needed for LISA. We then show briefly the basic features of the instrument and we finally discuss its projected sensitivity and the extrapolation of its results to LISA.

While many multi-robot systems rely on fortuitous cooperation between agents, some tasks, such as the assembly of large structures, require tighter coordination. We present a general software architecture for coordinating heterogeneous robots that allows for both autonomy of the individual agents as well as explicit coordination. This paper presents recent results with three robots with very different configurations. Working as a team, these robots are able to perform a high-precision docking task that none could achieve individually.

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