Semi-Autonomous Control of Unmanned Ground Vehicles

Award Information
Agency: Department of Defense
Branch: Army
Contract: W56HZV-10-C-0132
Agency Tracking Number: A082-145-0560
Amount: $729,999.00
Phase: Phase II
Program: SBIR
Awards Year: 2010
Solicitation Year: 2008
Solicitation Topic Code: A08-145
Solicitation Number: 2008.2
Small Business Information
Mobile Intelligence Corporation
13620 Merriman Road, Livonia, MI, 48150
DUNS: 176513604
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Douglas MacKenzie
 Senior Scientist
 (734) 367-0430
 doug@mobile-intelligence.com
Business Contact
 William Oseles
Title: Contracts Manager
Phone: (734) 367-0430
Email: woseles@mobile-intelligence.com
Research Institution
N/A
Abstract
Mobile Intelligence is building an open architecture hardware and software system that supports semi-autonomous control of ground robots using monocular vision. It will be open architecture, follow the JAUS/AS-4 standard, and be suitable for mounting on small robots, such as the Talon or PackBot. It will allow the operator to easily command the robot to perform actions such as “Go There”, “Follow Path”, or “Follow Me” and allow it to autonomously travel, freeing the operator to perform other tasks, including maintaining their situational awareness and safety. Three research thrusts will be followed. First, categorizing terrain traversability based on appearance and motion allows extrapolating nearby, highly accurate estimates into the far scene. Second, classifying objects based on their shape and texture allows estimating their size based on heuristics, and thus estimating their distance. Finally, learning scene affordances with respect to navigation will allow learning mappings of visual shape categories to navigation strategies. The information from these three perceptual processes will be aggregated into a symbolic map, and used by a planner to create routes through the environment.

* information listed above is at the time of submission.

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