Share Email Print
cover

Proceedings Paper

Development and demonstration of autonomous behaviors for urban environment exploration
Author(s): Gaurav Ahuja; Donald Fellars; Gregory Kogut; Estrellina Pacis Rius; Misha Schoolov; Alexander Xydes
Format Member Price Non-Member Price
PDF $14.40 $18.00

Paper Abstract

Under the Urban Environment Exploration project, the Space and Naval Warfare Systems Center Pacic (SSC- PAC) is maturing technologies and sensor payloads that enable man-portable robots to operate autonomously within the challenging conditions of urban environments. Previously, SSC-PAC has demonstrated robotic capabilities to navigate and localize without GPS and map the ground oors of various building sizes.1 SSC-PAC has since extended those capabilities to localize and map multiple multi-story buildings within a specied area. To facilitate these capabilities, SSC-PAC developed technologies that enable the robot to detect stairs/stairwells, maintain localization across multiple environments (e.g. in a 3D world, on stairs, with/without GPS), visualize data in 3D, plan paths between any two points within the specied area, and avoid 3D obstacles. These technologies have been developed as independent behaviors under the Autonomous Capabilities Suite, a behavior architecture, and demonstrated at a MOUT site at Camp Pendleton. This paper describes the perceptions and behaviors used to produce these capabilities, as well as an example demonstration scenario.

Paper Details

Date Published: 25 May 2012
PDF: 14 pages
Proc. SPIE 8387, Unmanned Systems Technology XIV, 838718 (25 May 2012); doi: 10.1117/12.918509
Show Author Affiliations
Gaurav Ahuja, Space and Naval Warfare Systems Ctr. Pacific (United States)
Donald Fellars, Space and Naval Warfare Systems Ctr. Pacific (United States)
Gregory Kogut, Space and Naval Warfare Systems Ctr. Pacific (United States)
Estrellina Pacis Rius, Space and Naval Warfare Systems Ctr. Pacific (United States)
Misha Schoolov, Space and Naval Warfare Systems Ctr. Pacific (United States)
Alexander Xydes, Space and Naval Warfare Systems Ctr. Pacific (United States)


Published in SPIE Proceedings Vol. 8387:
Unmanned Systems Technology XIV
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

© SPIE. Terms of Use
Back to Top