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Research and Development Plan Task 1: Wayfarer PackBot Platform (iRobot)
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- Task 2: Fido Sensor Integration (iRobot/Nomadics)
- Task 3: IED Detection Behaviors (iRobot)
- Task 4: Coverage Planning Integration (iRobot/SRI)
- Task 5: Intelligence Kernel Integration (iRobot/INL)
- Task 6: INL Graphical User Interface Integration (iRobot/INL/SRI)
- Estimated Schedule and Budget
- References
Research and Development PlanTask 1: Wayfarer PackBot Platform (iRobot)For Task 1, iRobot will integrate two PackBot Scouts with ruggedized Wayfarer navigation payloads. These robots will be used as the platforms for the research in this project. Task 2: Fido Sensor Integration (iRobot/Nomadics)For Task 2, iRobot and Nomadics will integrate a Fido explosives sensor with a Wayfarer PackBot. Previously, iRobot and Nomadics integrated Fido sensors with PackBot EOD robots. These robots have been deployed to Iraq, and US soldiers are currently testing the ability of this system to detect IEDs in urban environments. Task 3: IED Detection Behaviors (iRobot)For Task 3, iRobot will develop low-level reactive behaviors that serve as the foundation for effective IED-neutralization. These behaviors include obstacle avoidance, navigating to a particular location while avoidance obstacles, with or without GPS, and navigating through an urban environment using Task 4: Coverage Planning Integration (iRobot/SRI)For Task 4, SRI will develop a version of their coverage planning system for the urban IED search task. iRobot and SRI will implement a translator module to communicate between Aware and Player. iRobot and SRI will then integrate the coverage planning system with the IED detection behaviors developed in Task 3. At the end of Task 4, we will have a fully-operational Fireseeker prototype capable of searching for IEDs in an urban environment. Task 5: Intelligence Kernel Integration (iRobot/INL)For Task 5, iRobot and INL will implement a translator module to communicate between Aware and the Intelligence Kernel. iRobot and INL will then integrate the Intelligence Kernel with the IED search behaviors and the coverage planning system. At the end of Task 5, Fireseeker will be able to integrate additional components from other research labs developed for the Intelligence Kernel. Task 6: INL Graphical User Interface Integration (iRobot/INL/SRI)For Task 6, iRobot, INL, and SRI will integrate the graphical user interface (GUI) developed with the Intelligence Kernel with the Fireseeker robots and the coverage system. The GUI will show the progress of the search along with the locations of all of the robots and any detected IEDs. All of this data will be superimposed over an aerial map of the terrain. At the end of Task 6, the Fireseeker robots will be controllable via the Intelligence Kernel GUI. In addition, Fireseeker will be fully JAUS-compliant (including experimental messages, as necessary), and any JAUS OCU that supports the necessary messages will be able to control and task Fireseeker. Estimated Schedule and Budget
Figure 14: Fireseeker Schedule Fireseeker is a 12-month project with a Rough Order of Magnitude (ROM) cost of $3M. Figure 14 shows the overall schedule for the Fireseeker Project.
[Pacis, et al. 04] E. B. Pacis, H.R. Everett, N. Farrington, and D. J. Bruemmer, “Enhancing Functionality and Autonomy in Man-Portable Robots,” SPIE Defense and Security Symposium 2004, April 2004. [Ortiz et al. 05] Charles L. Ortiz, Regis Vincent, Benoit Morisset, “Task Inference and Distributed Task Management in the Centibots Robotic System,” Proceedings of the Third International Conference on Autonomous Agent and Multi-Agent System, 2005. [Vaughan et al. 2003] Richard T. Vaughan, Brian P. Gerkey, and Andrew Howard. “On Device Abstractions for Portable, Reusable Robot Code,” Proceedings of the IEEE International Conference on Intelligent Robots and Systems, volume 3, pages 2421–2427, October 2003. [Yamauchi 05] Brian Yamauchi, “Wayfarer: An Autonomous Navigation Payload for the PackBot,” Proceedings of AUVSI Unmanned Vehicles North America 2005, Baltimore, MD, June 2005. iRobot Proprietary Directory: papers papers -> From Warfighters to Crimefighters: The Origins of Domestic Police Militarization papers -> The Tragedy of Overfishing and Possible Solutions Stephanie Bellotti papers -> Prospects for Basic Income in Developing Countries: a comparative Analysis of Welfare Regimes in the South papers -> Weather regime transitions and the interannual variability of the North Atlantic Oscillation. Part I: a likely connection papers -> Fast Truncated Multiplication for Cryptographic Applications papers -> Reflections on the Industrial Revolution in Britain: William Blake and J. M. W. Turner papers -> This is the first tpb on this product papers -> Basic aspects of hurricanes for technology faculty in the United States papers -> Title Software based Remote Attestation: measuring integrity of user applications and kernels Authors Download 1.15 Mb. Share with your friends:
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