Leader-Following for Mobile Robots

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$99,178.00
Award Year:
2010
Program:
STTR
Phase:
Phase I
Contract:
W56HZV-10-C-0443
Agency Tracking Number:
A10A-030-0110
Solicitation Year:
n/a
Solicitation Topic Code:
ARMY 10T030
Solicitation Number:
n/a
Small Business Information
Traclabs, Inc.
100 Northeast Loop 410, Suite 520, San Antonio, TX, 78216
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
193786014
Principal Investigator:
Eric Huber
Senior Scientist
(281) 461-7884
eric@roboteyes.com
Business Contact:
David Kortenkamp
President
(281) 461-7884
korten@traclabs.com
Research Institution:
Brown University
Odest Chadwicke Jenkins
Department of Computer Science
Box 1910, 115 Waterman St.
Providence, RI, 2912
(401) 863-7600
Nonprofit college or university
Abstract
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.

* information listed above is at the time of submission.

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