Three Dimensional Dynamic Environments Path Planner (3DDEPP)

Award Information
Agency: Department of Defense
Branch: Defense Advanced Research Projects Agency
Contract: W31P4Q-09-C-0400
Agency Tracking Number: 08SB2-0587
Amount: $98,923.00
Phase: Phase I
Program: SBIR
Awards Year: 2009
Solicitation Year: 2008
Solicitation Topic Code: SB082-030
Solicitation Number: 2008.2
Small Business Information
814 W. Diamond Ave., Suite 301, Gaithersburg, MD, 20878
DUNS: 121257443
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: Y
Principal Investigator
 Alberto Lacaze
 (240) 631-0008
Business Contact
 Alberto Lacaze
Title: President
Phone: (240) 631-0008
Research Institution
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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