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Proceedings Paper

Development for SSV on a parallel processing system (PARAGON)
Author(s): Benny M. Gothard; Mark Allmen; Michael J. Carroll; Dan Rich
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Paper Abstract

A goal of the surrogate semi-autonomous vehicle (SSV) program is to have multiple vehicles navigate autonomously and cooperatively with other vehicles. This paper describes the process and tools used in porting UGV/SSV (unmanned ground vehicle) autonomous mobility and target recognition algorithms from a SISD (single instruction single data) processor architecture (i.e., a Sun SPARC workstation running C/UNIX) to a MIMD (multiple instruction multiple data) parallel processor architecture (i.e., PARAGON-a parallel set of i860 processors running C/UNIX). It discusses the gains in performance and the pitfalls of such a venture. It also examines the merits of this processor architecture (based on this conceptual prototyping effort) and programming paradigm to meet the final SSV demonstration requirements.

Paper Details

Date Published: 27 December 1995
PDF: 11 pages
Proc. SPIE 2591, Mobile Robots X, (27 December 1995); doi: 10.1117/12.228970
Show Author Affiliations
Benny M. Gothard, Lockheed Martin Astronautics (United States)
Mark Allmen, Lockheed Martin Astronautics (United States)
Michael J. Carroll, Lockheed Martin Astronautics (United States)
Dan Rich, Honeywell, Inc. (United States)

Published in SPIE Proceedings Vol. 2591:
Mobile Robots X
William J. Wolfe; Chase H. Kenyon, Editor(s)

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