Three Dimensional Dynamic Environments Path Planner (3DDEPP)

Award Information
Agency:
Department of Defense
Branch
Defense Advanced Research Projects Agency
Amount:
$98,923.00
Award Year:
2009
Program:
SBIR
Phase:
Phase I
Contract:
W31P4Q-09-C-0400
Award Id:
91771
Agency Tracking Number:
08SB2-0587
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
814 W. Diamond Ave., Suite 301, Gaithersburg, MD, 20878
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
121257443
Principal Investigator:
Alberto Lacaze
President
(240) 631-0008
lacaze@RoboticResearch.com
Business Contact:
Alberto Lacaze
President
(240) 631-0008
lacaze@RoboticResearch.com
Research Institution:
n/a
Abstract
Planning with dynamic entities is at the core of the "safe ops" risk identified by FCS' Autonomous Navigation System (ANS) and other robotic programs. Autonomous robotic systems will not be extensively deployed unless they can safely operate in environments sharing spaces with other dynamic entities. One of the biggest challenges is that most planning systems do not understand the idea of a dynamic entity. Robotic Research, LLC and General Dynamics Robotic Systems will create a planner for dynamic environments utilizing a 3D planning space (x,y,t) for ground vehicles and a 4D space for aerial vehicles (x,y,z,t). This will include integration of terrain registration into the (x,y,t) planner to provide a mapping between the relative navigation solution and the map navigation solution, development of an ego-graph based extension to the current (x,y,t) planner, developing a complex simulation environment for testing using RIVET and preliminary demonstration of a synchronized prediction planning system.

* information listed above is at the time of submission.

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