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Using Evolving Curves to Track Dynamic Boundaries

Award Information
Agency: Department of Defense
Branch: Army
Contract: W911NF-04-C-0114
Agency Tracking Number: A2-1319
Amount: $750,000.00
Phase: Phase II
Program: STTR
Solicitation Topic Code: ARMY03-T08
Solicitation Number: N/A
Solicitation Year: 2003
Award Year: 2004
Award Start Date (Proposal Award Date): 2004-08-31
Award End Date (Contract End Date): 2005-08-31
Small Business Information
7519 Standish Place, Suite 200
Rockville, MD 20855
United States
DUNS: 161911532
HUBZone Owned: No
Woman Owned: Yes
Socially and Economically Disadvantaged: No
Principal Investigator
 Vikram Manikonda
 Director of Intelligent Systems
 (301) 294-5245
Business Contact
 Mark James
Title: Contracts Administrator
Phone: (301) 294-5221
Research Institution
 Duke University
 Carlo Tomasi
Durham, NC 27708
United States

 (919) 660-6539
 Nonprofit College or University

In the phase I effort, IAI successfully demonstrated the feasibility of co-operative swarm based approach to boundary tracking. This approach is relevant to applications such as tracking oil spills using a swarm of robots, tracking enemy troop movement using a swarm of UAV's (Future Combat System (FCS) type scenario), and tracking of static and moving mine fields . In Phase II, we continue our efforts to further develop and optimize Phase I algorithms and develop software for distributed, multi-robot detection and surveillance of rapidly changing perimeters. The Phase II effort will specifically focus on the following tasks (i) Further developing the architecture for optimally distributing the tracking algorithms across a robot swarm (ii) Swarm control to optimize boundary observability (iii) Cooperative resource allocation schemes for ad hoc communication in the swarm (iv) Tracking under lack of information (v) Evaluation of alterantive scalable simulation approaches; (vi) Agent-based software development and Integration (vii) Simulation testing and tuning; (viii) Development of a hardware test-bed with swarm of robotic platforms for advanced technology demonstration and (ix) Commercialization and technology transition.

* Information listed above is at the time of submission. *

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