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Proceedings Paper

Achieving integrated convoys: cargo unmanned ground vehicle development and experimentation
Author(s): Noah Zych; David Silver; David Stager; Colin Green; Thomas Pilarski; Jacob Fischer; Noah Kuntz; Dean Anderson; Albert Costa; Joseph Gannon; Joseph Lisee; Peter Rander; Michael K. Sergi-Curfman; Christopher Shaw; Daniel Tascione; Nicolas Vandapel; John Beck
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Paper Abstract

The Cargo UGV project was initiated in 2010 with the aim of developing and experimenting with advanced autonomous vehicles capable of being integrated unobtrusively into manned logistics convoys. The intent was to validate two hypotheses in complex, operationally representative environments: first, that unmanned tactical wheeled vehicles provide a force protection advantage by creating standoff distance to warfighters during ambushes or improvised explosive device attacks; and second, that these UGVs serve as force multipliers by enabling a single operator to control multiple unmanned assets. To assess whether current state-of-the-art autonomous vehicle technology was sufficiently capable to permit resupply missions to be executed with decreased risk and reduced manpower, and to assess the effect of UGVs on customary convoy tactics, the Marine Corps Warfighting Laboratory and the Joint Ground Robotics Enterprise sponsored Oshkosh Defense and the National Robotics Engineering Center to equip two standard Marine Corps cargo trucks for autonomous operation. This paper details the system architecture, hardware implementation, and software modules developed to meet the vehicle control, perception, and planner requirements compelled by this application. Additionally, the design of a custom human machine interface and an accompanying training program are described, as is the creation of a realistic convoy simulation environment for rapid system development. Finally, results are conveyed from a warfighter experiment in which the effectiveness of the training program for novice operators was assessed, and the impact of the UGVs on convoy operations was observed in a variety of scenarios via direct comparison to a fully manned convoy.

Paper Details

Date Published: 17 May 2013
PDF: 14 pages
Proc. SPIE 8741, Unmanned Systems Technology XV, 87410Y (17 May 2013); doi: 10.1117/12.2015586
Show Author Affiliations
Noah Zych, Oshkosh Corp. (United States)
David Silver, Carnegie Mellon Univ. (United States)
David Stager, Carnegie Mellon Univ. (United States)
Colin Green, Carnegie Mellon Univ. (United States)
Thomas Pilarski, Carnegie Mellon Univ. (United States)
Jacob Fischer, Oshkosh Corp. (United States)
Noah Kuntz, Oshkosh Corp. (United States)
Dean Anderson, Carnegie Mellon Univ. (United States)
Albert Costa, Carnegie Mellon Univ. (United States)
Joseph Gannon, Carnegie Mellon Univ. (United States)
Joseph Lisee, Carnegie Mellon Univ. (United States)
Peter Rander, Carnegie Mellon Univ. (United States)
Michael K. Sergi-Curfman, Carnegie Mellon Univ. (United States)
Christopher Shaw, Carnegie Mellon Univ. (United States)
Daniel Tascione, Carnegie Mellon Univ. (United States)
Nicolas Vandapel, Carnegie Mellon Univ. (United States)
John Beck, Oshkosh Corp. (United States)

Published in SPIE Proceedings Vol. 8741:
Unmanned Systems Technology XV
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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