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In this paper we present a mission architecture and a robotic platform, theShapeshifter, that allow multi-domain and redundant mobility on Saturn's moonTitan, and potentially other bodies with atmospheres. The Shapeshifter is acollection of simple and affordable robotic units, called Cobots, comparable topersonal palm-size quadcopters. By attaching and detaching with each other,multiple Cobots can shape-shift into novel structures, capable of (a) rollingon the surface, to increase the traverse range, (b) flying in a flight arrayformation, and (c) swimming on or under liquid. A ground station complementsthe robotic platform, hosting science instrumentation and providing power torecharge the batteries of the Cobots. In the first part of this paper weexperimentally show the flying, docking and rolling capabilities of aShapeshifter constituted by two Cobots, presenting ad-hoc control algorithms.We additionally evaluate the energy-efficiency of the rolling-based mobilitystrategy by deriving an analytic model of the power consumption and byintegrating it in a high-fidelity simulation environment. In the second part wetailor our mission architecture to the exploration of Titan. We show that theproperties of the Shapeshifter allow the exploration of the possiblecryovolcano Sotra Patera, Titan's Mare and canyons.

Shapeshifter: A Multi-Agent, Multi-Modal Robotic Platform for Exploration of Titan