Covert, cross-border tunnels are a security vulnerability that enables people and contraband to illegally enter the United States. All of these tunnels to-date have been constructed for the purpose of drug smuggling, but they may also be used to support terrorist activity. Past robotic tunnel exploration efforts have had limited success in aiding law enforcement to explore and map the suspect cross-border tunnels. These efforts have made use of adapted explosive ordnance disposal (EOD) or pipe inspection robotic systems that are not ideally suited to the cross-border tunnel environment. The Counter Tunnel project was sponsored by the Office of Secretary of Defense (OSD) Joint Ground Robotics Enterprise (JGRE) to develop a prototype robotic system for counter-tunnel operations, focusing on exploration, mapping, and characterization of tunnels.The purpose of this system is to provide a safe and effective solution for three-dimensional (3D) localization, mapping, and characterization of a tunnel environment. The system is composed of the robotic mobility platform, the mapping sensor payload, and the delivery apparatus. The system is able to deploy and retrieve the robotic mobility platform through a 20-cm-diameter borehole into the tunnel. This requirement posed many challenges in order to design and package the sensor and robotic system to fit through this narrow opening and be able to perform the mission.This paper provides a short description of a few aspects of the Counter Tunnel system such as mobility, perception, and localization, which were developed to meet the unique challenges required to access, explore, and map tunnel environments.

Covert, cross-border tunnels are a security vulnerability that enables people and contraband to illegally enter the United States. All of these tunnels to-date have been constructed for the purpose of drug smuggling, but they may also be used to support terrorist activity. Past robotic tunnel exploration efforts have had limited success in aiding law enforcement to explore and map the suspect cross-border tunnels. These efforts have made use of adapted explosive ordnance disposal (EOD) or pipe inspection robotic systems that are not ideally suited to the cross-border tunnel environment. The Counter Tunnel project was sponsored by the Office of Secretary of Defense (OSD) Joint Ground Robotics Enterprise (JGRE) to develop a prototype robotic system for counter-tunnel operations, focusing on exploration, mapping, and characterization of tunnels.The purpose of this system is to provide a safe and effective solution for three-dimensional (3D) localization, mapping, and characterization of a tunnel environment. The system is composed of the robotic mobility platform, the mapping sensor payload, and the delivery apparatus. The system is able to deploy and retrieve the robotic mobility platform through a 20-cm-diameter borehole into the tunnel. This requirement posed many challenges in order to design and package the sensor and robotic system to fit through this narrow opening and be able to perform the mission. This paper provides a short description of a few aspects of the Counter Tunnel system such as mobility, perception, and localization, which were developed to meet the unique challenges required to access, explore, and map tunnel environments.

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.

Robotic technology is developing at a rapid rate for both commercial and Department of Defense (DOD) applications. As a result, the task of managing both technology and experience information is growing. In the notto-distant past, tracking development efforts of robotic platforms, subsystems and components was not too difficult, expensive, or time consuming. To do the same today is a significant undertaking.The Mobile Robot Knowledge Base (MRKB) provides the robotics community with a web-accessible, centralized resource for sharing information, experience, and technology to more efficiently and effectively meet the needs of the robotic system user. The resource includes searchable information on robotic components, subsystems, mission payloads, platforms, and DOD robotics programs. In addition, the MRKB website provides a forum for technology and information transfer within the DOD robotics community and an interface for the Robotic Systems Pool (RSP). The RSP manages a collection of small teleoperated and semi-autonomous robotic platforms, available for loan to DOD and other qualified entities. The objective is to put robots in the hands of users and use the test data and fielding experience to improve robotic systems.

Robotic technology is developing at a rapid rate for both commercial and Department of Defense (DOD) applications. As a result, the task of managing both technology and experience information is growing. In the notto-distant past, tracking development efforts of robotic platforms, subsystems and components was not too difficult, expensive, or time consuming. To do the same today is a significant undertaking.The Mobile Robot Knowledge Base (MRKB) provides the robotics community with a web-accessible, centralized resource for sharing information, experience, and technology to more efficiently and effectively meet the needs of the robotic system user. The resource includes searchable information on robotic components, subsystems, mission payloads, platforms, and DOD robotics programs. In addition, the MRKB website provides a forum for technology and information transfer within the DOD robotics community and an interface for the Robotic Systems Pool (RSP). The RSP manages a collection of small teleoperated and semi-autonomous robotic platforms, available for loan to DOD and other qualified entities. The objective is to put robots in the hands of users and use the test data and fielding experience to improve robotic systems.