Leader-Following for Mobile Robots

Award Information
Agency: Department of Defense
Branch: Army
Contract: W56HZV-10-C-0443
Agency Tracking Number: A10A-030-0110
Amount: $99,178.00
Phase: Phase I
Program: STTR
Awards Year: 2010
Solicitation Year: 2010
Solicitation Topic Code: A10A-T030
Solicitation Number: 2010.A
Small Business Information
Traclabs, Inc.
100 Northeast Loop 410, Suite 520, San Antonio, TX, 78216
DUNS: 193786014
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Eric Huber
 Senior Scientist
 (281) 461-7884
 eric@roboteyes.com
Business Contact
 David Kortenkamp
Title: President
Phone: (281) 461-7884
Email: 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.

Agency Micro-sites

SBA logo
Department of Agriculture logo
Department of Commerce logo
Department of Defense logo
Department of Education logo
Department of Energy logo
Department of Health and Human Services logo
Department of Homeland Security logo
Department of Transportation logo
Environmental Protection Agency logo
National Aeronautics and Space Administration logo
National Science Foundation logo
US Flag An Official Website of the United States Government