Accession Number : ADA535267


Title :   Distributed, Collaborative Human-Robotic Networks for Outdoor Experiments in Search, Identify and Track


Descriptive Note : Final rept. 21 Dec 2009-31 Sep 2010


Corporate Author : CORNELL UNIV ITHACA NY DEPT OF MECHANICAL AND AEROSPACE ENGINEERING


Personal Author(s) : Lee, Daniel ; McClelland, Mark ; Schneider, Joseph ; Yang, Tsung-Lin ; Gallagher, Dan ; Wang, John ; Shah, Danelle ; Ahmed, Nisar ; Moran, Pete ; Jones, Brandon ; Leung, Tung-Sing ; Nathan, Aaron ; Kress-Gazie, Hadras ; Campbell, Mark


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a535267.pdf


Report Date : 11 Jan 2011


Pagination or Media Count : 24


Abstract : This paper presents an overview of a human-robotic system under development at Cornell which is capable of mapping an unknown environment, as well as discovering, tracking, and neutralizing several static and dynamic objects of interest. In addition, the robots can coordinate their individual tasks with one another without overly burdening a human operator. The testbed utilizes the Segway RMP platform, with lidar, vision, IMU and GPS sensors. The software draws from autonomous systems research, specifically in the areas of pose estimation target detection and tracking, motion and behavioral planning, and human robot interaction. This paper also details experimental scenarios of mapping, tracking, and neutralization presented by way of pictures, data, and movies.


Descriptors :   *ROBOTICS , TEST BEDS , ROBOTS , TRACKING , GLOBAL POSITIONING SYSTEM , TARGET DETECTION , SELF OPERATION , AUTONOMOUS NAVIGATION , MAPPING , COMPUTER VISION , MAN MACHINE SYSTEMS , MAN COMPUTER INTERFACE , OPTICAL RADAR , UNMANNED


Subject Categories : Cybernetics
      Navigation and Guidance
      Human Factors Engineering & Man Machine System


Distribution Statement : APPROVED FOR PUBLIC RELEASE