Georgia Tech, as part of DARPA’s Tactical Mobile Robotics (TMR) Program, is developing a wide range of mission specification capabilities for the urban warfighter. These include the development of a range of easily configurable mission-specific robot behaviors suitable for various battlefield and special forces scenarios; communications planning and configuration capabilities for small teams of robots acting in a coordinated manner; interactive graphical visual programming environments for mission specification; and real-time analysis tools and methods for mission execution verification. This paper provides an overview of the approach being taken by the Georgia Tech/Honeywell team and presents a range of preliminary results for a variety of missions in both simulation and on actual robots.
Ronald C. Arkin,
Thomas R. Collins,
"Tactical mobile robot mission specification and execution", Proc. SPIE 3838, Mobile Robots XIV, (15 November 1999); doi: 10.1117/12.369250; https://doi.org/10.1117/12.369250