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Unmanned Ground Vehicle for Security (Terrascout)
Head: Sanjiv Singh
Contact: Sanjiv Singh (ssingh@ri.cmu.edu)

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated center: FRC

For more information, see this project's homepage.

This page last updated - January 1999.

We are developing autonomous ATVs to secure borders and facility perimeters.

These scouts automatically patrol a desired path, detect and avoid obstacles, and provide operators with live video and audio feeds.

The scouts assist their human counterparts by providing eyes and ears in dangerous locations. Streaming audio and video enable an operator to evaluate threats and suspicious activities from the safety of a command-and-control center. Vehicles automaticlly detect and avoid obstacles as they navigate assigned patrol areas, relieving operators from constant vehicle monitoring. Many scouts operate concurrently, enabling a security officer to cover an area much larger than could be handled alone.

Name - Title <Email Address>
• Bradley Hamner - Research Programmer <bhamner@andrew.cmu.edu>
• Myung Hwangbo - PhD Student, RI <myung@andrew.cmu.edu>
• [Home] Sanjiv Singh - Associate Research Professor <ssingh@ri.cmu.edu>

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• 2D Localization of Outdoor Mobile Robots Using 3D Laser Range Data
  T. Takahashi
  master's thesis, tech. report CMU-RI-07-11, Robotics Institute, Carnegie Mellon University, May, 2007. [Abstract]
  Download: pdf [3660 KB] copyrighted

• Learning Obstacle Avoidance Parameters from Operator Behavior
  B. Hamner, S. Singh, and S. Scherer
  Special Issue on Machine Learning Based Robotics in Unstructured Environments, Journal of Field Robotics, Vol. 23, No. 11/12, December, 2006, pp. 1037-1058. [Abstract]
  Download: pdf [1812 KB] copyrighted

• Learning to Drive Among Obstacles
  B. Hamner, S. Scherer, and S. Singh
  2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2006, pp. 2663 - 2669. [Abstract]
  Download: pdf [318 KB] copyrighted

• Results in Combined Route Traversal and Collision Avoidance
  unknown, B. Hamner, S. Singh, and M. Hwangbo
  International Conference on Field & Service Robotics (FSR '05), July, 2005. [Abstract]
  Download: pdf [385 KB] copyrighted