Advances in autonomy for small UGVs

Bruch, Michael; Lum, Jason; Yee, S. T.; Tran, Nghia

doi:10.1117/12.605258

Cited by 14 publications

(8 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Bruch [7] discusses the difficulty in integrating autonomy procedures of large UGVs into smaller platforms. The constraining factors, sensors and power requirements, increase size and weight of the UGV and decrease its performance.…”

Section: Introductionmentioning

confidence: 99%

Wheel load transfer in high-speed unmanned vehicles

Rogers

2009

2009 IEEE International Conference on Technologies for Practical Robot Applications

View full text Add to dashboard Cite

show abstract

Section: Introductionmentioning

confidence: 99%

Wheel load transfer in high-speed unmanned vehicles

Rogers

2009

2009 IEEE International Conference on Technologies for Practical Robot Applications

View full text Add to dashboard Cite

show abstract

“…At this time, many developers still consider Player to be experimental, as further development is needed for robust performance on fielded platforms. INL's control architecture is also independent of the robot's geometry and sensor suite.1 2 The entire framework is object oriented, allowing Q. L1 1 all software, including all behaviors and associated autonomous control, to be easily ported to a variety of robotic platforms by editing a parameters list (i.e., for robot length, width, maximum speed). Moreover, the system allows the robot to recognize what sensors it has available at any given time and adjust its behavior accordingly.…”

Section: 2mentioning

confidence: 99%

“…2 INL also has a pool of various iRobot and ActiveMedia platforms that have been used Figure 4. URBOT developed to optimize their Advanced Robotic Control Architecture (further discussed in Section under MPRS Program.…”

Section: Test/evaluation Platformsmentioning

confidence: 99%

Transitioning unmanned ground vehicle research technologies

et al. 2005

View full text Add to dashboard Cite

The Technology Transfer project employs a spiral development process to enhance the functionality and autonomy of mobile systems in the Joint Robotics Program (JRP) Robotic Systems Pool (RSP). The approach is to harvest prior and on-going developments that address the technology needs identified by emergent in-theatre requirements and users of the RSP. The component technologies are evaluated on a transition platform to identify the best features of the different approaches, which are then integrated and optimized to work in harmony in a complete solution. The result is an enabling mechanism that continuously capitalizes on state-of-the-art results from the research environment to create a standardized solution that can be easily transitioned to ongoing development programs. This paper focuses on particular research areas, specifically collision avoidance, simultaneous localization and mapping (SLAM), and target-following, and describes the results of their combined integration and optimization over the past 12 months.Keywords: robotics, autonomy, collision avoidance, vision-tracking, SLAM, augmented virtuality, technology transfer. BACKGROUNDThe objective is to enhance the functionality and autonomy of mobile robotic systems in the Joint Robotics Program (JRP) Robotic Systems Pool through a spiral-development process that harvests existing component technologies for optimization. The Tactical Mobile Robot (TMR) program, sponsored by the Defense Advanced Research Projects Agency (DARPA), was transferred to Space and Naval Warfare Systems Center, San Diego (SSC San Diego) at the end of FY-02 to facilitate the transition of TMR-funded technology into ongoing JRP development efforts. SSC San Diego worked with a variety of DARPA contractors to extract relevant aspects of their research and port it to ongoing projects and systems associated with the JRP Robotic Systems Pool. The continuing search for supporting technologies has naturally expanded to other government research activities, academia, and industry to further foster emergent technology-transfer opportunities (Figure 1). Accordingly, the JRP Technology Transfer Program has teamed with a number of organizations with similar ambitions, such as the Idaho National Laboratory (INL), to assist in the coordinated development, evaluation, and sharing of robotics technology. INL has a direct interest in autonomous robots for use in a variety of DOE missions, including homeland defense and critical infrastructure protection. This synergistic teaming between SSS San Diego and INL has two obvious advantages: 1) The INL Robotics Group, with similar objectives and experience, substantially augments the available manpower resources, allowing more technology options to be evaluated; and, 2) active DOE involvement opens up another major conduit for exporting the results into relevant government applications.An equally important objective of the program is to also transition relevant technology enhancements into the private sector, in order to enhance the supporting ...

show abstract

“…Recent accomplishments for MPRS include: 4 1. Development of enhanced non-differential-GPS waypoint navigation for man-portable robots.…”

Section: Man-portable Robotic Systems (Mprs)mentioning

confidence: 99%

Joint Robotics Program (JRP)-supported efforts at the Space and Naval Warfare Systems Center, San Diego

Nguyen

Everett

2006

SPIE Proceedings

View full text Add to dashboard Cite

The Space and Naval Warfare Systems Center, San Diego (SSC San Diego) is conducting a number of robotics research, development, evaluation, fielding, and combat-support missions and projects in support of Joint Robotics Program (JRP) goals. These include: Man-Portable Robotic System, Unmanned Surface Vessel, Automatically Deployed Communication Relays, Autonomous UAV Mission System, Robotic Systems Pool, Family of Integrated Rapid Response Equipment, and the Technology Transfer project. This paper summarizes the recent accomplishments and current status of these efforts, many of which are individually presented in more detail elsewhere at this conference.

show abstract

Advances in autonomy for small UGVs

Cited by 14 publications

References 3 publications

Wheel load transfer in high-speed unmanned vehicles

Wheel load transfer in high-speed unmanned vehicles

Transitioning unmanned ground vehicle research technologies

Joint Robotics Program (JRP)-supported efforts at the Space and Naval Warfare Systems Center, San Diego

Contact Info

Product

Resources

About