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The Mobile Detection Assessment Response System (MDARS) is a joint Army-Navy effort to field interior and exterior autonomous platforms for security and inventory assessment functions at DoD warehouses and storage sites. Based on a Cybermotion K2A Navmaster platform designed for singular operation in structured office environments, the MDARS Interior platform has incorporated additional collision avoidance, intruder detection and inventory assessment systems under a Multiple Robot Host Architecture (MRHA). The MRHA is a distributed multiprocessing system that provides coordinated control of multiple autonomous vehicles from a single host console. The increased functionality of the base platform required the addition of sensor equipment and accompanying distributed processing.

The Mobile Detection Assessment and Response System, Exterior (MDARS-E) provides an automated robotic security capability for storage yards, petroleum tank farms, rail yards, and arsenals. The system includes multiple supervised-autonomous platforms equipped with intrusion detection, barrier assessment, and inventory assessment subsystems commanded from an integrated control station.The MDARS-E Intrusion Detection System consists of a motion sensor suite which is selectively enabled while the vehicle is momentarily halted in execution of pre-defined but randomly executed patrols. The system can detect a crawling, walking, or running intruder at a distance of 100 meters, even in darkness or the presence of smoke, fog, dust, and precipitation. The demanding nature of the required detection criteria necessitates the integration of complementary technologies which can sense motion, pattern characteristics, thermal signatures, and temporal behavior.Accordingly, MDARS-E incorporates a two-layered sensor approach (i.e., vision and radar) to achieve a high probability of detection while simultaneously minimizing the number of nuisance alarms. The primary layer utilizes an infrared/vision-based (FLIR) system, which provides high angular resolution of a suspected intruder location within a scene. This information is used to slave a two-axis pan-and-tilt turret on which both the radar and vision sensors are mounted to automatically track the designated target. The second layer, a long-range broad-area radar sensor, is thus optimally positioned to confirm the presence of any valid moving target, effectively eliminating nuisance alarms. This paper discusses the MDARS-E Intrusion Detection System sensors and user interface, with particular emphasis placed on the pulsed-Doppler radar implementation and performance.Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.