2 September 2004 TACOM-USU intelligent mobility program
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Abstract
Over a six year period the US Army Tank-Automotive and Armaments Command's Intelligent Mobility Program sponsored research to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles. In this paper we describe the Intelligent Mobility Program’s research accomplishments achieved at Utah State University’s (USU) Center for Self-Organizing and Intelligent Systems (CSIOS). The CSOIS program was based on USU’s "smart wheel" technology, which enables design of an omni-directional vehicle (ODV). Through the course of the program, USU researchers built thirty robots using eight distinct ODV robot designs. These robots were also demonstrated in a number of application scenarios. The program has culminated in the actual fielding of the final robot developed, the ODIS-T2, which was designed for undervehicle inspection at security checkpoints. The design and deployment of these robots required research advances in mechanical and vetronics design, sensor integration, control engineering and intelligent behavior generation algorithms, system integration, and human interface. An overview of the USU-developed robotics technology is presented that details the technology development and technical accomplishments achieved by the TACOM-USU Intelligent Mobility Program, with a focus on the actual hardware produced.
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Kevin L. Moore, Kevin L. Moore, Grant R. Gerhart, Grant R. Gerhart, } "TACOM-USU intelligent mobility program", Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); doi: 10.1117/12.541787; https://doi.org/10.1117/12.541787
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