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Proceedings Paper

Soldier universal robot controller
Author(s): Jeffrey Hyams; Parag Batavia; Elizabeth Liao; Andrew Somerville
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Paper Abstract

The Soldier Universal Robot Controller (SURC) is a modular OCU designed for simultaneous control of heterogeneous unmanned vehicles. It has a well defined, published API., defined using XML schemas, that allows other potential users of the system to develop their own modules for rapid integration with SURC. The SURC architecture is broken down into three layers: User Interface, Core Functions, and Transport. The User Interface layer is the front end module which provides the human computer interface for user control of robots. The Core layer is further divided into the following modules: Capabilities, Tactical, Mobility, and World Model. The Capabilities module keeps track of the known robots and provides a list of specifications and services. The Mobility module provides path planning via D*, while the Tactical module provides higher level mission planning (multi-agent/multi-mission) capabilities for collaborative operations. The World Model module is a relational database which stores world model objects. Finally, a Transport module provides translation from the SURC architecture to the robot specific messaging protocols (such as JAUS). This allows fast integration of new robot protocols into an existing SURC implementation to enable a new system to rapidly leverage existing SURC capabilities. The communication between different modules within the SURC architecture is done via XML. This gives developers and users the flexibility to extend existing messages without breaking backwards compatibility. The modularity of SURC offers users and developers alike the capability to create custom modules and plug them into place, as long as they follow the pre defined messaging API for that module.

Paper Details

Date Published: 16 April 2008
PDF: 11 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 69621P (16 April 2008); doi: 10.1117/12.777063
Show Author Affiliations
Jeffrey Hyams, Applied Perception, Inc. (United States)
Parag Batavia, Applied Perception, Inc. (United States)
Elizabeth Liao, Applied Perception, Inc. (United States)
Andrew Somerville, Applied Perception, Inc. (United States)

Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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