Monocular Unmanned Leader-Follower (MULE-F) System

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$738,300.00
Award Year:
2012
Program:
STTR
Phase:
Phase II
Contract:
W56HZV-12-C-0049
Award Id:
n/a
Agency Tracking Number:
A2-4529
Solicitation Year:
2010
Solicitation Topic Code:
A10a-T030
Solicitation Number:
2010.A
Small Business Information
MA, Cambridge, MA, 02138-4555
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
115243701
Principal Investigator:
CamilleMonnier
Camille Monnier
(617) 491-3474
cmonnier@cra.com
Business Contact:
MarkFelix
Contracts Manager
(617) 491-3474
mfelix@cra.com
Research Institute:
Boston University
John F Imbergamo
Office of Sponsored Programs
25 Buick Street
Boston, MA, 02215-
(617) 353-4365

Abstract
The Army has a clear need for an unmanned ground vehicle (UGV) capable of autonomously accompanying a single soldier or vehicle. Such a UGV would help solve both logistical problems of soldiers needing to transport more equipment and supplies than they can carry in a backpack, and tactical problems of scouting unsafe areas. Multiple designs for such UGVs exist; however, they require active remote control or teleoperation, even for mundane tasks such as long-distance travel. Teleoperation is undesirable for these types of situations, as it requires"heads down"attention from the soldier, which reduces situational awareness and causes fatigue. We propose a Monocular Unmanned Leader-Follower (MULE-F) system for the autonomous tracking and following of a designated soldier or vehicle. The proposed system enables a UGV to autonomously follow a soldier or vehicle at operational following distances and speeds, using a single lightweight UGV-mounted video camera and requiring no modifications to the leader"s equipment. The system is specifically designed to operate in the presence of multiple visually-similar soldiers or vehicles by integrating the designated leader"s tracked kinematics with a learned appearance model, and may be controlled at a distance using intuitive arm/hand gestures.

* information listed above is at the time of submission.

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