Library for Leader Election and Spanning Tree Distributed Construction(NPO-52251-1)

NASA's Cooperative Autonomous Distributed Robotic Explorers (CADRE) project is developing a network of shoe-box-sized mobile robots that could enable future autonomous robotic exploration of the Moon, Mars, and beyond. Each robot contains an onboard computer with a wireless radio for communication and a stereo camera which has multiple lenses and image sensors for sensing the environment in front of it and capturing 3D imagery. NASA's JPL is developing the robotic scouts, designing them to explore as a group and collect data in hard-to-reach places such as craters and caves on the Moon. Multiple small, autonomous robots could cover more ground, potentially helping us map unexplored regions on the Moon.