PREdicting MObility using STATistics (PreMoStat)

Award Information
Agency:
Department of Defense
Amount:
$750,000.00
Program:
STTR
Contract:
W912HZ-08-C-0059
Solitcitation Year:
2007
Solicitation Number:
N/A
Branch:
Army
Award Year:
2008
Phase:
Phase II
Agency Tracking Number:
A074-026-0231
Solicitation Topic Code:
A07-T026
Small Business Information
GRIFFIN TECHNOLOGIES, INC.
PO Box 276, Wynnewood, PA, 19096
Hubzone Owned:
N
Woman Owned:
N
Socially and Economically Disadvantaged:
N
Duns:
073688926
Principal Investigator
 Eric Krotkov
 President
 (610) 649-9507
 ekrotkov@ieee.org
Business Contact
 Eric Krotkov
Title: President
Phone: (610) 649-9507
Email: ekrotkov@ieee.org
Research Institution
 UNIV. OF TEXAS AT AUSTIN
 Courtney D Frazier
 Office of Sponsored Projects
PO Box 7726
Austin, TX, 78713-7726
 (512) 471-2336
 Nonprofit college or university
Abstract
The proposed work addresses the problem of determining whether a given small unmanned ground vehicle (SUGV) can traverse a given terrain, when the state of both the SUGV and the terrain are not known exactly. In Phase I, we developed Monte Carlo-based methods to predict the mobility of the PackBot on steps, and we experimentally validated those methods with experiments with a real robot on real terrain with varying coefficient of friction and step height. In Phase II we will more fully develop the statistical prediction methodology, including extensions, optimization, and continued validation. In Phase II we will also develop a software application integrating the statistical mobility prediction and visualization methods.

* information listed above is at the time of submission.

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