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Proceedings Paper

Modular countermine payload for small robots
Author(s): Herman Herman; Doug Few; Roelof Versteeg; Jean-Sebastien Valois; Jeff McMahill; Michael Licitra; Edward Henciak
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Paper Abstract

Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processor that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multimission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.

Paper Details

Date Published: 29 April 2010
PDF: 9 pages
Proc. SPIE 7664, Detection and Sensing of Mines, Explosive Objects, and Obscured Targets XV, 76641D (29 April 2010); doi: 10.1117/12.852630
Show Author Affiliations
Herman Herman, Carnegie Mellon Univ. (United States)
Doug Few, Idaho National Lab. (United States)
Roelof Versteeg, Idaho National Lab. (United States)
Jean-Sebastien Valois, Carnegie Mellon Univ. (United States)
Jeff McMahill, Carnegie Mellon Univ. (United States)
Michael Licitra, Carnegie Mellon Univ. (United States)
Edward Henciak, Carnegie Mellon Univ. (United States)

Published in SPIE Proceedings Vol. 7664:
Detection and Sensing of Mines, Explosive Objects, and Obscured Targets XV
Russell S. Harmon; John H. Holloway Jr.; J. Thomas Broach, Editor(s)

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