2 September 2004 Autonomous vehicle platforms from modular robotic components
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Abstract
A brief survey of current autonomous vehicle (AV) projects is presented with intent to find common infrastructure or subsystems that can be configured from commercially available modular robotic components, thereby providing developers with greatly reduced timelines and costs and encouraging focus on the selected problem domain. The Modular Manipulator System (MMS) robotic system, based on single degree of freedom rotary and linear modules, is introduced and some approaches to autonomous vehicle configuration and deployment are examined. The modules may be configured to provide articulated suspensions for very rugged terrain and fall recovery, articulated sensors and tooling plus a limited capacity for self repair and self reconfiguration. The MMS on-board visually programmed control software (Model Manager) supports experimentation with novel physical configurations and behavior algorithms via real-time 3D graphics for operations simulation and provides useful subsystems for vision, learning and planning to host intelligent behavior.
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William J. Schonlau, William J. Schonlau, } "Autonomous vehicle platforms from modular robotic components", Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); doi: 10.1117/12.564555; https://doi.org/10.1117/12.564555
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