The Multi-Agent Tactical Sentry Unmanned Ground Vehicle, developed at Defence R&D Canada - Suffield, has
been in service with the Canadian Forces for five years. This tele-operated wheeled vehicle provides a capability
for point detection of chemical, biological, radiological, and nuclear agents. Based on user experience, it is
obvious that a manipulator capability would greatly enhance the vehicle's utility and increase its mobility in
urban terrain. This paper details technical components of this development, and describes a number of trials
undertaken to perform tasks with a manipulator arm such as picking up objects, opening vehicle and building
doors, recording video, and creating 3D models of the environment. The lessons learned from these trials will
guide further development of the technology.