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 this 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, the 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. 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 on surfaces with a gradient up to 10{\deg}. 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.

翻译：我们提出了一种新颖的异构多智能体架构，通过将发电功能外包至中央枢纽来实现火星车的小型化。通过将发电与配电功能委托给该枢纽，每辆火星车的尺寸、重量、功耗与成本（SWAP-C）得以降低，从而实现高效的车队规模化扩展。当火星车在任务区域执行探测任务时，枢纽为一系列备用电池模块进行充电。当火星车需要充电时，它返回枢纽并启动自主对接程序，随后携带充满电的电池离开。相较于无线充电或有线充电等直接充电方式，该方法具有显著优势：可在数分钟内（而非数小时）完成电池更换，从而提升火星车的净运行时间。本研究开放了一个用于演示未知野外地形中电池更换功能的开源平台。我们详细阐述了为提升系统可靠性而采用的设计方法，重点涵盖优化设计、稳健机械设计与验证环节。讨论了系统优化过程，包括通过基于仿真的优化方法设计被动导轨，将有效对接构型空间扩大了258%。在集成测试阶段对完整系统进行了评估，在坡度高达10°的地形上实现了平均98秒的服务时间。最后，我们简要提出了使该系统迈向航天级设计的飞行任务考量。总的来说，该原型证明了在野外地形中实现自主对接与电池传输的可行性，将其技术成熟度等级（TRL）从1级提升至3级。