Representation for Navigation

Award Information
Agency: Department of Defense
Branch: Air Force
Contract: FA8651-12-M-0232
Agency Tracking Number: F121-104-1601
Amount: $149,988.00
Phase: Phase I
Program: SBIR
Awards Year: 2012
Solicitation Year: 2012
Solicitation Topic Code: AF121-104
Solicitation Number: 2012.1
Small Business Information
Matrix Research Inc
1300 Research Park Dr, Dayton, OH, -
DUNS: 363384004
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Greg Arnold
 Senior Staff Engineer
 (937) 427-8433
 greg.arnold@matrixresearch.com
Business Contact
 Bob Hawley
Title: President
Phone: (937) 427-8433
Email: bob.hawley@matrixresearch.com
Research Institution
 Stub
Abstract
ABSTRACT: Matrix Research, Inc. proposes to design, implement, and test novel feature representations in Multi-Agent Simultaneous Localization and Mapping (MA-SLAM) systems for enhanced navigation accuracy/reliability. Specifically, we will develop generic, yet compact, multi-modal feature representations, along with a methodology for their extraction in significantly variable conditions, which may include densely and/or sparsely populated dynamic scenes. The design of these local and global feature representations will be tailored for navigation applications in which low-bandwidth, low-rate communications between agents constrains data throughput. Our primary focus is the development of a novel, compact feature representation that enables efficient communication and exploitation by agents within the system. The feature representations, along with the associated mapping algorithm, will be general enough to support multiple sensing modalities for utilization in a multi-source navigation system. We will consider the question of how many agents are needed with respect to the available feature representations, bandwidth constraints, and mapping accuracy requirements. Our analysis will include algorithm simulations for proof-of-concept, as well as a system prototype and test plan for future development. BENEFIT: The primary benefit of successful completion of this effort is a revolutionary new capability for extracting features for mapping systems. This capability has numerous commercial applications in various business sectors such as defense, search and rescue, mapping, mining, and robotics.

* information listed above is at the time of submission.

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