| ThrowBot: Design Considerations for a Man-Portable Throwable Robot |
2005 |
11 pages |
| Authors:
Mitch Barnes; H. R. Everett; Pavlo Rudakevych; SPACE AND NAVAL WARFARE SYSTEMS COMMANDSAN DIEGO CA
|
 | The pocket-sized ThrowBot is a sub-kilogram-class robot that provides short-range remote eyes and ears for urban combat. This paper provides an overview of lessons learned from experience testing and evaluation of the iRobot ThrowBot developed under the Defense Advanced Research Projects Agency (DARPA) Tactical Mobile Robots (TMR) program. Emphasis has been placed on investigating requirements for the next generation of ThrowBots to be developed by iRobot Corporation and SPAWAR Systems ... |
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| Transitioning Unmanned Ground Vehicle Research Technologies |
2005 |
12 pages |
| Authors:
E. B. Pacis; H. R. Everett; N. Farrington; G. Kogut; B. Sights; T. Kramer; M. Thompson; D. Bruemmer; D. Few; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| The Technology Transfer project employs a spiral development process to enhance the functionality and autonomy of mobile systems in the Joint Robotics Program (JRP) Robotic Systems Pool (RSP). The approach is to harvest prior and on-going developments that address the technology needs identified by emergent in-theatre requirements and users of the RSP. The component technologies are evaluated on a transition platform to identify the best features of the different approaches ... |
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| Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots |
2005 |
7 pages |
| Authors:
B. Sights; H. R. Everett; E. B. Pacis; G. Kogut; M. Thompson; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement response may lead to destruction of the robot. As the presence of robots ... |
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| Center of Excellence for Small Robots |
2005 |
11 pages |
| Authors:
Daniel M. Carroll; Hoa G. Nguyen; Robin T. Laird; H. R. Everett; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| The mission of the Unmanned Systems Branch of SPAWAR Systems Center, San Diego (SSC San Diego) is to provide network-integrated robotic solutions for Command, Control, Communications, Computers, Intelligence, Surveillance, and Reconnaissance (C4ISR) applications, serving and partnering with industry, academia, and other government agencies. We believe the most important criterion for a successful acquisition program is producing a value-added end product that the warfighter needs, uses and appreciates. Through our accomplishments ... |
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| Enhancing Functionality and Autonomy in Man-Portable Robots |
2004 |
13 pages |
| Authors:
E. B. Pacis; H. R. Everett; N. Farrington; D. Bruemmer; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| Current man-portable robotic systems are too heavy for troops to pack during extended missions in rugged terrain and typically require more user support than can be justified by their limited return in force multiplication or improved effectiveness. As a consequence, today's systems appear organically attractive only in life-threatening scenarios, such as detection of chemical/ biological/radiation hazards, mines, or improvised explosive devices. For the long term, significant improvements in both functionality ... |
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| Using Video Sensor Networks to Command and Control Unmanned Ground Vehicles |
DEC 2003 |
15 pages |
| Authors:
Greg Kogut; Mike Blackburn; H. R. Everett; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| Most unmanned ground vehicles (UGVs) used in defense and physical security applications have a limited onboard sensor range, and are only "aware" of their immediate surroundings. This limited range hinders the ability of UGVs to detect or respond to remote events, and limits their cost-effectiveness in securing large areas. The Distributed Interactive Video Array (DIVA) system is a network of wireless, man-portable vision sensors under development at Spawar Systems Center ... |
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| Robotic Security Systems |
DEC 2003 |
6 pages |
| Authors:
H. R. Everett; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| Fixed and mobile sensors can be used in the early detection and assessment technology that is crucial for homeland security. ANNOTATION: Reprint: Robotic Security Systems |
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| After Action Report to the Unmanned Ground Vehicles/Systems-Joint Program Office: Center for the Robotic Assisted Search and Rescue (CRASAR) related Efforts at the World Trade Center |
AUG 2002 |
38 pages |
| Authors:
Michael R. Blackburn; H. R. Everett; Robin T. Laird; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| This report provides a quick summary of the introduction of small teleoperated robots to disaster-related search and rescue operations following the 11 September 2001 terrorist attack upon the World Trade Center in New York City. This report also lists certain lessons learned from that event and proposes recommendations based upon those lessons for future development, deployment, and operation of urban search and rescue robotic tools. |
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| Extending Mobile Security Robots to Force Protection Missions |
JUL 2002 |
13 pages |
| Authors:
Daniel Carroll; H. R. Everett; Gary Gilbreath; Katherine Mullens; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| The Mobile Detection Assessment Response System (MDARS) is a joint Army-Navy development effort to field mobile robots at Department of Defense (DoD) sites for physical security and automated inventory missions MDARS was initiated in 1989 to improve the effectiveness of a shrinking guard force, but was quickly expanded to address the intensive manpower requirements associated with accounting for high-dollar and critical DoD assets, Two types of autonomous platforms patrol inside ... |
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| Autonomous Mobile Communication Relays |
APR 2002 |
9 pages |
| Authors:
Hoa G. Nguyen; H. R. Everett; Narek Manouk; Ambrish Verma; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| Maintaining a solid radio communication link between a mobile robot entering a building and an external base station is a well-recognized problem. Modern digital radios, while affording high bandwidth and Internet-protocol- based automatic routing capabilities, tend to operate on line-of-sight links. The communication link degrades quickly as a robot penetrates deeper into the interior of a building. This project investigates the use of mobile autonomous communication relay nodes to extend ... |
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| An Advanced Telereflexive Tactical Response Robot |
2001 |
10 pages |
| Authors:
H. R. Everett; G. A. Gilbreath; D. A. Ciccimaro; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| ROBART III is intended as an advanced demonstration platform for non- lethal tactical response, extending the concepts of reflexive teleoperation into the realm of coordinated weapons control (i.e., sensor-aided control of mobility, camera, and weapon functions) in law enforcement and urban warfare scenarios. A rich mix of ultrasonic and optical proximity and range sensors facilitates remote operation in unstructured and unexplored buildings with minimal operator oversight. Supervised autonomous navigation and ... |
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| Challenges for Deployment Man-Portable Robots into Hostile Environments |
NOV 2000 |
13 pages |
| Authors:
M. H. Bruch; R. T. Laird; H. R. Everett; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| The Man Portable Robotic System (MPRS) project objective was to build and deliver hardened robotic systems to the U.S. Army's 10th Mountain Division in Fort Drum, New York. The systems, specifically designed for tunnel and sewer reconnaissance, were equipped with visual and audio sensors that allowed the Army engineers to detect trip wires and booby traps before personnel entered a potentially hostile environment. The greatest challenges for the project stemmed ... |
|
| Challenges for Deploying Man-Portable Robots into Hostile Environments |
NOV 2000 |
13 pages |
| Authors:
M. H. Bruch; R. T. Laird; H. R. Everett; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| The Man Portable Robotic System (MPRS) project objective was to build and deliver hardened robotic systems to the U.S. Army's 10th Mountain Division in Fort Drum, New York. The systems, specifically designed for tunnel and sewer reconnaissance, were equipped with visual and audio sensors that allowed the Army engineers to detect trip wires and booby traps before personnel entered a potentially hostile environment. The greatest challenges for the project stemmed ... |
|
| Multiple Resource Host Architecture (MRHA) for the Mobile Detection Assessment Response System (MDARS) Revision A |
SEP 2000 |
110 pages |
| Authors:
H. R. Everett; R. T. Laird; D. M. Carroll; G. A. Gilbreath; T. A. Heath-Pastore; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| The Mobile Detection Assessment and Response System (MDARS) program employs multiple robotic security platforms operating under the high level control of a remote host, with the direct supervision of a human operator. This document describes the major components of a distributed host architecture geared towards a single guard controlling up to thirty-two robots, and explores some of the key issues that were considered in the development phase. The objective is ... |
|
| An Advanced Telereflexive Tactical Response Robot |
APR 2000 |
7 pages |
| Authors:
G. A. Gilbreath; D. A. Ciccimaro; H. R. Everett; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| ROBART III is intended as an advanced demonstration platform for non- lethal tactical response, extending the concepts of reflexive teleoperation into the realm of coordinated weapons control (i.e., sensor-aided control of mobility, camera, and weapons functions) in law enforcement in urban warfare scenarios. A rich mix of ultrasonic and optical proximity and range sensors facilitates remote operation in unstructured and unexplored buildings with minimal operator oversight. Supervised autonomous navigation and ... |
|
| Issues in Vehicle Teleoperation for Tunnel and Sewer Reconnaissance |
APR 2000 |
7 pages |
| Authors:
R. T. Laird; M. H. Bruch; M. B. West; D. A. Ciccimaro; H. R. Everett; SPACE AND NAVAL WARFARE SYSTEMS COMMANDSAN DIEGO CA
|
| With the introduction of the Man Portable Robotic System (MPRS), things are about the change for the next generation of military engineers (tunnel rates) tasked with tunnel and sewer reconnaissance. No longer will there be a need for soldiers to descent below the surface into a hostile environment, blindly crawling through rubble and mud while probing ahead for explosives with a bayonet. This paper represents a comprehensive overview of the ... |
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| Mobile Robots for Outdoor Security Applications |
APR 1999 |
17 pages |
| Authors:
Tracy H. Pastore; H. R. Everett; Kevin Bonner; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| A comprehensive robotic security solution for outdoor storage facilities is provided by the Mobile Detection Assessment and Response System- Exterior (MDARS-E). The system consists of multiple supervised autonomous platforms equipped with intruder detection, barrier assessment, and inventory assessment subsystems commanded from an integrated control station. The exterior platforms is only one component of the overall MDARS system, which supports a variety of remote resources including interior platforms and fixed-place security ... |
|
| A Supervised Autonomous Security Response Robot |
APR 1999 |
18 pages |
| Authors:
Donny A. Ciccimaro; H. R. Everett; Michael H. Bruch; Clifton B. Phillips; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| Autonomous mobile robots typically require a preconceived and very detailed navigational model (map) of their intended operating environment, but most law enforcement and urban warfare response scenarios preclude the availability of such a priori information. ROBART III is an advanced demonstration platform for non-lethal robotic response measures, incorporating a supervised autonomous navigation system specifically configured to support minimally attended operation in previously unexplored interior structures. A "human-centered mapping" strategy has ... |
|
| Early User Appraisal of the MDARS Interior Robot |
APR 1999 |
23 pages |
| Authors:
R. T. Laird; H. R. Everett; G. A. Gilbreath; R. S. Inderieden; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| The Mobile Detection Assessment Response System (MDARS) is a joint Army-Navy effort to field interior and exterior autonomous platforms for security and inventory assessment functions at DoD warehouses and storage sites. The MDARS operator interface (host console) is based upon the Multiple Resource Host Architecture (MRHA), a distributed processing system that allows coordinated control of multiple autonomous resources. The current configuration provides control for up to 32 interior and/or exterior ... |
|
| An Automated Security Response Robot |
NOV 1998 |
14 pages |
| Authors:
D. A. Ciccimaro; H. R. Everett; G. A. Gilbreath; T. T. Tan; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| ROBART III is intended as an advanced demonstration platform for non-lethal response measures, extending the concepts of reflexive teleoperation intothe realm of coordinated weapons control (i.e., sensor-aided control of mobility, camera, and weapon functions) in law enforcement and urban warfare scenarios. A rich mix of ultrasonic and optical proximity and range sensors facilitates remote operation in unstructured and unexplored buildings with minimal operator supervision. Autonomous navigation and mapping of interior ... |
|
| Radar-Based Intruder Detection for a Robotic Security System |
NOV 1998 |
12 pages |
| Authors:
Phil Cory; H. R. Everett; Tracy H. Pastore; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| The Mobile Detection Assessment and Response System, Exterior (MDARS- E) provides an automated robotic security capability for storage yards, petroleum tank farms, rail yards, and arsenals. The system includes multiple supervised-autonomous platforms equipped with intrusion detection, barrier assessment, and inventory assessment subsystems commanded from an integrated control station. The MDARS-E Intrusion Detection System consists of a motion sensor suite which is selectively enabled while the vehicle is momentarily halted in ... |
|
| Multiple Resource Host Architecture for the Mobile Detection Assessment and Response System |
AUG 1998 |
115 pages |
| Authors:
H. R. Everett; R. T. Laird; G. Gilbreath; T. A. Heath-Pastore; R. S. Inderieden; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| The initial effort during Phase I of the Mobile Detection Assessment and Response System (MDARS) Program was aimed at demonstrating the feasibility of a single robotic security platform operating under the high-level control of a remote host with the direct supervision of a human operator. This document describes the concept of a distributed host architecture geared towards a single guard controlling up to eight robots and ... |
|
| Mobile Robot Positioning - Sensors and Techniques |
1997 |
24 pages |
| Authors:
J. Borenstein; H. R. Everett; L. Feng; D. Wehe; NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA
|
| Exact knowledge of the position of a vehicle is a fundamental problem in mobile robot applications. In the search for a solution, researchers and engineers have developed a variety of systems, sensors, and techniques for mobile robot positioning. This paper provides a review of relevant mobile robot positioning technologies. The paper defines seven categories for positioning systems: (1) Odometry, (2) Inertial Navigation, (3) Magnetic Compasses, (4) Active Beacons, (5) Global ... |
|
| MDARS Multiple Robot Host Architecture |
OCT 95 |
13 pages |
| Authors:
R. T. Laird; H. R. Everett; G. A. Gilbreath; T. A. Heath-Pastore; R. S. Inderieden; NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA
|
| The Naval Command, Control and Ocean Surveillance Center (NCCOSC) RDT&E Division (NRaD) has developed a command and control architecture to provide coordinated control of multiple autonomous interior and exterior vehicles from a single host console. The Multiple Robot Host Architecture (MRHA) is a distributed multiprocessing system that can be expanded to accommodate as many as 32 remote platforms. The initial application will employ eight Cybermotion K2A Navmaster robots configured as ... |
|
| MDARS Interior Platform |
OCT 95 |
13 pages |
| Authors:
J. M. Holland; A. Martin; R. P. Smurlo; H. R. Everett; NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA
|
| The Mobile Detection Assessment Response System (MDARS) is an automated robotic security and inventory system capable of controlling multiple indoor and/or outdoor autonomous platforms from a single host console. Separate development efforts target: (1) warehouse interiors and (2) outdoor storage areas. The MDARS Interior system is designed to run on its own, with each robot patrolling a designated region within a warehouse environment until an 'exceptional event' occurs. Typical exceptional ... |
|
| Overview of the Mobile Detection Assessment and Response System |
OCT 1995 |
8 pages |
| Authors:
R. S. Inderieden; H. R. Everett; T. A. Heath-Pastore; R. P. Smurlo; NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA
|
|
| Real-World Issues in Warehouse Navigation |
NOV 1994 |
12 pages |
| Authors:
H. R. Everett; D. W. Gage; G. A. Gilbreath; R. T. Laird; R. P. Smurlo; NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA
|
| The MDARS security robotics program has successfully demonstrated the simultaneous control of multiple robots autonomously navigating within an industrial warehouse environment. This real-world warehouse system installation required adapting a navigational paradigm designed for highly structured environments such as office corridors (with smooth walls and regularly spaced doorways) to a semi-structured warehouse environment (with few walls and within which odd-shaped objects unpredictably move about from day to day). A number of ... |
|
| Coordinate Control of Interior and Exterior Autonomous Platforms |
OCT 94 |
8 pages |
| Authors:
T. A. Heath-Pastore; H. R. Everett; NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA
|
| The Mobile Detection Assessment Response System (MDARS) Program is a joint Army-Navy effort to field interior and exterior autonomous platforms performing security and inventory assessment functions at DoD warehouses and storage sites. The program is managed by the Physical Security Equipment Management Office at Ft. Belvoir, VA. The MDARS Interior Program successfully demonstrated the simultaneous control of two robots and four simulated robots operating in an interior warehouse environment. The ... |
|
| Controlling Multiple Security Robots in a Warehouse Environment |
MAR 1994 |
11 pages |
| Authors:
H. R. Everett; G. A. Gilbreath; T. A. Heath-Pastore; R. T. Laird; NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA
|
| The Naval Command Control and Ocean Surveillance Center (NCCOSC) has developed an architecture to provide coordinated control of multiple autonomous vehicles from a single host console. The Multiple Robot Host Architecture (MRHA) is a distributed multiprocessing system that can be expanded to accommodate as many as 32 robots. The initial application will employ eight Cybermotion K2A navmaster robots configured as remote Security platforms in support of the Mobile Detection Assessment ... |
|
| Survey of Collision Avoidance and Ranging Sensors for Mobile Robots. Revision 1 |
DEC 92 |
155 pages |
| Authors:
H. R. Everett; D. E. DeMuth; E. H. Stitz; NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA
|
| The past few years have brought about a tremendous rise in the envisioned potential of robotic systems and a significant increase in the number of proposed applications. In the nonindustrial arena, numerous programs have evolved, each intending to harness some of this promise in hopes of solving some particular application need. Many of these efforts are government sponsored, aimed at the development of systems for fighting fires, handling ammunition, transporting ... |
|
| Modeling the Environment of a Mobile Security Robot |
JUN 90 |
170 pages |
| Authors:
H. R. Everett; G. A. Gilbreath; T. Tran; J. M. Nieusma; NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA
|
| ROBART II is a battery powered autonomous robot being used by the Naval Ocean Systems Center (NOSC) in San Diego, CA as a testbed in research which seeks to provide a multisensor detection, verification, and intelligent assessment capability for a mobile security robot. The intent is to produce a robust automated system exhibiting a high probability of detection, with the ability to distinguish between actual and nuisance alarms, and capable ... |
|
| ROBART II: A Robotic Security Testbed |
JAN 89 |
|
| Authors:
H. R. Everett; G. A. Gilbreath; NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA
|
 | ROBART II is a battery powered autonomous robot being used by the Naval Ocean Systems Center (NOSC) in San Diego, CA, as a testbed in research which seeks to provide a multisensor detection, verification, and intelligent assessment capability for a mobile security robot. The intent is to produce a robust automated system that exhibits a high probability of detection with the ability to distinguish between actual and nuisance alarms. An ... |
|
| Conceptual Design and Analysis of a Novel Actuator |
OCT 88 |
42 pages |
| Authors:
J. D. Ingram; H. R. Everett; D. L. Smith; J. McDonnel; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| Conventional robotic actuators which motive power for manipulators have been commonly limited to three basic types: electric, pneumatic and hydraulic. Each type has advantages and limitations which have dictated their respective suitability for specific applications. However, new manipulator functions may require such qualities as stiffness, high speed, low weight, low inertia, high power output, reversibility, and accurate positioning, which are not usually mutually compatible within an actuator type. With the ... |
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| Survey of Collision Avoidance and Ranging Sensors for Mobile Robots |
MAR 88 |
|
| Authors:
H. R. Everett; NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA
|
| The past few years have brought a tremendous rise in the envisioned potential of robotic systems, and a correspondingly significant increase in the number of proposed applications. In the nonindustrial arena, numerous programs have evolved, each intending to harness some of this promise in hopes of solving some particular application need. Most of these efforts are government- sponsored, aimed at the development of systems for fighting fires, handling ammunition, transporting ... |
|
| Environmental Modeling for a Mobile Sentry Robot |
JAN 88 |
|
| Authors:
H. R. Everett; G. A. Gilbreath; G. L. Bianchini; NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA
|
| ROBART II is a battery powered autonomous sentry robot being used by the Naval Ocean Systems Center (NOSC) in San Diego as a testbed in the research areas of environmental modeling and intelligent security assessment. An onboard architecture of nine distributed microprocessors makes possible advanced control strategies and real-time data acquisition capability. High level tasks (map generation, path planning, position estimation, obstacle avoidance, and statistical security assessment) are addressed by ... |
|
| ROBART II: An Intelligent Security Robot |
DEC 87 |
|
| Authors:
H. R. Everett; G. L. Bianchini; NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA
|
| ROBART II is a battery powered autonomous sentry robot used by the Naval Ocean Systems Center in San Diego as a testbed in the research areas of environmental modeling and intelligent security assessment. An architecture of nine distributed microprocessors makes possible advanced control strategies and real-time data acquisition capability. Higher level functionality (map generation, path planning, position estimation, obstacle avoidance and statistical security assessment) is currently implemented by the Planner ... |
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Reports by Author
