On 13 and 15 December, in conjunction with the Unmanned Systems Capabilities Conference II, SSC San Diego performed a series of collaborative behavior demonstrations involving multiple unmanned autonomous systems in a force-protection scenario. These demonstrations included simultaneous control of an unmanned surface vehicle (USV), an unmanned ground vehicle (UGV), and an unmanned aerial vehicle (UAV) using the Multi-robot Operator Control Unit (MOCU) command and control software. MOCU was designed to control multiple robots/sensors across various domains (i.e., air, land and sea). Its modular architecture scales to any vehicle’s requirements (i.e., map, communications protocol, mission planner) and human-interface needs (i.e., gauges, map windows, video inputs). All three unmanned systems communicated with MOCU using the Joint Architecture for Unmanned Systems (JAUS) protocol.
Several other technologies were also showcased, including the Mobile Detection Assessment Response
System Exterior (MDARS-E) security robot, the Multiple Resource Host Architecture (MRHA), simultaneous
localization and mapping (SLAM), human-presence detection, automated UAV refueling, remotely operated
weapons, and unattended ground, video, and radar sensors.
In the simulated threat scenario, an unknown group of amphibious commandos landed on the beach and
infiltrated inland, presumably intending to crest the hill and attack the submarine base. Pre-positioned
radar and vibration sensors detected the incursion and alarmed in the Robotic Operations Command Center
(ROCC). Triggered by unattended ground sensors, the Man-portable Perimeter Protection (MPP) system
automatically provided confirming video of two armed intruders heading east.
In the simulated threat scenario, an unknown group of amphibious commandos landed on the beach and infiltrated inland, presumably intending to crest the hill and attack the submarine base. Pre-positioned radar and vibration sensors detected the incursion and alarmed in the Robotic Operations Command Center (ROCC). Triggered by unattended ground sensors, the Man-portable Perimeter Protection (MPP) system automatically provided confirming video of two armed intruders heading east.
The MDARS-E vehicle (equipped with an automatic weapon and a UGV marsupial carrier) was dispatched south
from the ROCC to intercept the threat on Woodward Road. A second MDARS-E vehicle with an intrusion detection
payload was also dispatched to provide backup. The USV, already patrolling off the coast, was redirected
south by the MOCU operator to assess from the sea. With onboard collision-avoidance and path planning
capabilities, the USV was able to reroute itself to provide video surveillance of other possible hostile forces
in the area.
The MDARS vehicles detected no sign of troop movement on the ground, indicating that possible refuge had been taken in an underground WW-II bunker. Accordingly, MOCU launched the autonomous helicopter (UAV) to obtain low-altitude mission-planning imagery and real-time reconnaissance of the incursion area. Executing GPS waypoint navigation, the helicopter entered a low-level (100-foot) hover to provide video surveillance of the north entrance to the bunker.
Based on the helicopter imagery, MOCU next commanded the Urban Robot (URBOT) to approach the north entrance. Once the URBOT was in position, the helicopter relocated to cover the south entrance, while MDARS-E guarded the east entrance on Woodward Road. Upon seeing the helicopter, one intruder bolted from the south door and headed east. When this intruder crossed Woodward Road, MDARS successfully engaged with the Networked Remotely Operated Weapon System (NROWS).
The visitors were then relocated to Battery Woodward to observe the ability to autonomously search and map the interior of the underground bunker in which the remaining intruder was hiding. Serving as a surrogate for the URBOT, an All Terrain Robotic Vehicle (ATRV) was sent via MOCU to the bunker using the same GPS waypoint navigation employed on the URBOT, USV, and UAV. The ATRV then seamlessly transitioned to SLAM navigation and entered the north door to autonomously map and search the interior of the bunker, finding a .50-calibre machine gun and the second intruder hiding inside. The ATRV uploaded to the operator a virtual world model of the bunker, fused with tags and real-time visual snapshots marking the locations of both the weapon and intruder.
The attendees were next transported to the north end of the test site for two additional demos. The first was a robotic countermine operation conducted by the Idaho National Laboratory. Several of the autonomous functionalities optimized under the Technology Transfer Program have been incorporated into the Autonomous Robotic Countermine Experiment to fulfill the U.S. Army Engineer School’s requirement to enhance IED detection and countermine capabilities. Specifically, the same autonomous behaviors seen on the ATRV were ported to Carnegie Mellon University’s (CMU) countermine robot, which searched, detected, recorded in a map, and marked on the ground the location of buried landmines.
Code 2644 next demonstrated the iRobot R-Gator, which is being used for the Unmanned Vehicles for Physical Security pilot
project, investigating current Unmanned Vehicle technologies for use in anti-terrorism force-protection scenarios. The
intent is to perform unmanned perimeter reconnaissance with minimal user intervention at various naval sites for Commander,
Naval Installations (CNI). Plans are to use MOCU to provide the command and control functionality for the North Island pilot
installation.
Another form of unmanned collaboration SSC San Diego is engaging in is aiming at expanding the force protection and force-multiplication capabilities of
robotics, making use of our existing programs and platforms. One of these thrusts is marsupial robotics, others include
non-lethal gun pods, tandem robots, and universal network devices.
One of our two marsupial robotics efforts involves the Mobile Detection, Assessment and Response System (MDARS) and Man-Portable Robotic System (MPRS) programs. A marsupial carrier has been developed to enable the MDARS-Exterior vehicle to carry and launch the MPRS robot. This allows MDARS-E to expand its force-protection and force- multiplication capabilities, and to enhance the ability to provide a tactical response.
This synergistic integration takes advantage of the inherent strengths of both platforms. MDARS-E is a rugged four-wheel hydrostatic-drive diesel-powered vehicle that can travel over long distances, transporting the URBOT closer to its destination. MDARS-E utilizes several sensor technologies, including active-laser, ultrasonic sonar, and stereo-vision sensors for collision avoidance.
The URBOT is a low-profile tracked robot that is controlled by an operator via an RF link. It is fully invertible, completely waterproof, and employs four video cameras. Its small size (can fit through a 24-inch manhole) and excellent maneuverability make it ideal for tunnel and sewer reconnaissance in the below-ground infrastructure associated with urban warfare. The onboard nickel-metal-hydride rechargeable batteries provide average mission durations of between 4 and 5 hours. The remote operator can communicate with the URBOT by relaying through the longer-range MDARS RF network, which uses the same integrated format for all-digital transmission of video, audio, and control data.
Our second marsupial robotics effort involves the integration of UAV and UGV. We successfully launched the 29-inch iSTAR UAV developed by Allied Aerospace from atop the
MDARS-E vehicle in September of 2002. The second phase of the effort, currently underway, will demonstrate automatic landing of the UAV on the UGV. The third phase will
involve the launching, re-capturing, refueling, and relaunching of the UAV. Follow-on plans call for integrating the smaller 9-inch model of iSTAR onto the URBOT.
1467 KB URBOT being deployed from MDARS-E in marsupial mode.
2605 KB View from URBOT's rear camera as it is being deployed from MDARS-E.
3479 KB URBOT being recovered by MDARS-E in marsupial mode.
1566 KB The iStar UAV being launched from the MDARS-E UGV. (Video courtesy of Allied Aerospace)
SSC San Diego Robotics page
SSC San Diego Adaptive Systems Branch
Address all questions/comments to: robo-web@spawar.navy.mil