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Leaving Flatland: Fast Autonomous Navigation For UGVs in Challenging Terrain

Leaving Flatland  Principal Investigator:  Benoit Morisset

Mailing address:
AI Center
SRI International
333 Ravenswood Avenue
Menlo Park, CA 94025-3493

AIC Program:  Teambotics Group

   Project Description

While infantry can seamlessly traverse many different environments, current autonomous robots cannot. The gap that exists between human and robotic mobility is evident in the degree of hands-on teleoperation that is required to use today’s UGVs, such as the PackBot and the Talon. The next advance for ground-based robots will be the development of perception, planning, and control systems that will enable UGVs to autonomously navigate in the same environments, and at the same speeds, as dismounted infantry. This autonomous capability is a necessary prerequisite for the realization of the potential of UGVs as tactical multipliers. We envision a new research program on autonomous modeling and navigation, with the goal of enabling small (e.g., man-packable) UGVs to move alongside their human counterparts through virtually any environment, whether indoor or outdoor. In support of this new program, we propose an exploratory project to study the key challenges in closing the loop on autonomous perception and action in challenging terrain. The primary objective of the proposed project is to demonstrate the first robot to autonomously traverse challenging 3-D terrain with onboard sensing and online processing. The robot’s perception, planning, and execution capabilities will operate in unmodified environments, both indoor and outdoor. This is a joint project with Stanford University and Boston Dynamics.

   Personnel

Name Title E-mail
Agrawal, Motilal Computer Scientist
Gerkey, Brian P. Alumnus
Konolige, Kurt G Alumnus
Morisset, Benoit Alumnus
Rusu, Radu B. Alumnus
Sundaresan, Aravind Computer Scientist

   Publications
  • Morisset, B. and Rusu, R. and Sundaresan, A. and Hauser, K. and Agrawal, M. and Latombe, JC and Beetz, M. Leaving Flatland. Toward Real-Time 3D Navigation. IEEE International Conference on Robotics and Automation, 2009.  [Details]

  • Rusu, R. and Sundaresan, A. and Morisset, B. and Agrawal, M. and Beetz, M. Leaving Flatland: Realtime 3D Stereo Semantic Reconstruction, in International Conference on Intelligent Robotics and Applications , October 2008.  [Details]

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