PREdicting MObility using STATistics (PreMoStat)

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$750,000.00
Award Year:
2008
Program:
STTR
Phase:
Phase II
Contract:
W912HZ-08-C-0059
Award Id:
83253
Agency Tracking Number:
A074-026-0231
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
PO Box 276, Wynnewood, PA, 19096
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
073688926
Principal Investigator:
Eric Krotkov
President
(610) 649-9507
ekrotkov@ieee.org
Business Contact:
Eric Krotkov
President
(610) 649-9507
ekrotkov@ieee.org
Research Institute:
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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