The Autonomous Urban Reconnaissance Ingress System (AURIS™) addresses a significant limitation of current
military and first responder robotics technology: the inability of reconnaissance robots to open doors. Leveraging
user testing as a baseline, the program has derived specifications necessary for military personnel to open doors
with fielded UGVs (Unmanned Ground Vehicles), and evaluates the technology's impact on operational mission
areas: duration, timing, and user patience in developing a tactically relevant, safe, and effective system. Funding is
provided through the US ARMY Tank Automotive Research, Development and Engineering Center (TARDEC) and
the project represents a leap forward in perception, autonomy, robotic implements, and coordinated payload
operation in UGVs. This paper describes high level details of specification generation, status of the last phase of
development, an advanced view of the system autonomy capability, and a short look ahead towards the ongoing
work on this compelling and important technology.
This paper presents a scalable modeling technique that displays 3D data from a priori and real-time sensors developed by
Autonomous Solutions under contract with NAVEODTECHDIV and TARDEC. A novel algorithm provides structure
and texture to 3D point clouds while an octree repository management technique scales level of detail for seamless
zooming from kilometer to centimeter scales. This immersive 3D environment enables direct measurement of absolute
size, automated manipulator placement, and indication of unique world coordinates for navigation. Since a priori data is
updated by new information collected with stereovision and lidar sensors, high accuracy pose is not a requirement.