25 May 2012 Development and demonstration of autonomous behaviors for urban environment exploration
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Under the Urban Environment Exploration project, the Space and Naval Warfare Systems Center Pacic (SSC- PAC) is maturing technologies and sensor payloads that enable man-portable robots to operate autonomously within the challenging conditions of urban environments. Previously, SSC-PAC has demonstrated robotic capabilities to navigate and localize without GPS and map the ground oors of various building sizes.1 SSC-PAC has since extended those capabilities to localize and map multiple multi-story buildings within a specied area. To facilitate these capabilities, SSC-PAC developed technologies that enable the robot to detect stairs/stairwells, maintain localization across multiple environments (e.g. in a 3D world, on stairs, with/without GPS), visualize data in 3D, plan paths between any two points within the specied area, and avoid 3D obstacles. These technologies have been developed as independent behaviors under the Autonomous Capabilities Suite, a behavior architecture, and demonstrated at a MOUT site at Camp Pendleton. This paper describes the perceptions and behaviors used to produce these capabilities, as well as an example demonstration scenario.
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Gaurav Ahuja, Gaurav Ahuja, Donald Fellars, Donald Fellars, Gregory Kogut, Gregory Kogut, Estrellina Pacis Rius, Estrellina Pacis Rius, Misha Schoolov, Misha Schoolov, Alexander Xydes, Alexander Xydes, } "Development and demonstration of autonomous behaviors for urban environment exploration", Proc. SPIE 8387, Unmanned Systems Technology XIV, 838718 (25 May 2012); doi: 10.1117/12.918509; https://doi.org/10.1117/12.918509

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