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Leader-Following for Mobile Robots

Award Information

Department of Defense
Award ID:
Program Year/Program:
2010 / STTR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
ARMY 10T030
Solicitation Number:
Small Business Information
Traclabs, Inc.
100 Northeast Loop 410 Suite 520 San Antonio, TX 78216-
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Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Phase 1
Fiscal Year: 2010
Title: Leader-Following for Mobile Robots
Agency / Branch: DOD / ARMY
Contract: W56HZV-10-C-0443
Award Amount: $99,178.00


TRACLabs Inc. has worked with NASA to create indoor/outdoor, vision-based leader-following systems for sparse, extra-terrestrial environments. Brown University's Robotics Group has demonstrated leader-following and gesture recognition in high-traffic, dynamic, indoor environments using active lidar sensing. We propose to combine our technologies in order to create a passive sensing system that will facilitate unmanned leader-following in novel, cluttered, and dynamic environments. We plan to accomplish this goal via the synthesis of TRACLabs' technologies for stereo-vision-based pursuit, safe 6-degree-of-freedom navigation, and multi-sensor object tracking with the Brown Robotics Group's innovative algorithms for gesture recognition and person-following. Our Phase I aims are 1) to demonstrate an initial leader-following prototype, using our existing technologies to achieve close-range, vision-based leader-following in cluttered and dynamic indoor/outdoor environments and 2) to provide a detailed assessment of the hardware and software extensions needed for the long-range Phase II system. In Phase II, we plan extend our system to long-range outdoor leader-following, including conveys of non-human leaders. We will focus on leader-following at human running speeds and on utilizing alternative passive sensing, like thermal sensing, to achieve robust tracking at long-range distances. Long-term, we expect to integrate our system with unmanned military robots, like PackBot, Talon, and MULE platforms.

Principal Investigator:

Eric Huber
Senior Scientist

Business Contact:

David Kortenkamp
Small Business Information at Submission:

Traclabs, Inc.
100 Northeast Loop 410 Suite 520 San Antonio, TX 78216

EIN/Tax ID: 202601412
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Research Institution Information:
Brown University
Department of Computer Science
Box 1910, 115 Waterman St.
Providence, RI 2912
Contact: Odest Chadwicke Jenkins
Contact Phone: 4018637600