Integrated long-range UAV/UGV collaborative target tracking

Mark B. Mosely, Benjamin P. Grocholsky, Carol Cheung, and Sanjiv Singh
Proc. SPIE, Unmanned Systems Technology XI Conference, April, 2009.


Abstract
Coordinated operations between unmanned air and ground assets allow leveraging of multi-domain sensing and increase opportunities for improving line of sight communications. While numerous military missions would benefit from coordinated UAV-UGV operations, foundational capabilities that integrate stove-piped tactical systems and share available sensor data are required and not yet available. iRobot, AeroVironment, and Carnegie Mellon University are working together, partially SBIR-funded through ARDEC's small unit network lethality initiative, to develop collaborative capabilities for surveillance, targeting, and improved communications based on PackBot UGV and Raven UAV platforms. We integrate newly available technologies into computational, vision, and communications payloads and develop sensing algorithms to support vision-based target tracking. We first simulated and then applied onto real tactical platforms an implementation of Decentralized Data Fusion, a novel technique for fusing track estimates from PackBot and Raven platforms for a moving target in an open environment. In addition, system integration with AeroVironment's Digital Data Link onto both air and ground platforms has extended our capabilities in communications range to operate the PackBot as well as in increased video and data throughput. The system is brought together through a unified Operator Control Unit (OCU) for the PackBot and Raven that provides simultaneous waypoint navigation and traditional teleoperation. We also present several recent capability accomplishments toward PackBot-Raven coordinated operations, including single OCU display design and operation, early target track results, and Digital Data Link integration efforts, as well as our near-term capability goals.

Notes
Associated Center(s) / Consortia: Field Robotics Center

Text Reference
Mark B. Mosely, Benjamin P. Grocholsky, Carol Cheung, and Sanjiv Singh, "Integrated long-range UAV/UGV collaborative target tracking," Proc. SPIE, Unmanned Systems Technology XI Conference, April, 2009.

BibTeX Reference
@inproceedings{Grocholsky_2009_6574,
   author = "Mark B. Mosely and Benjamin P Grocholsky and Carol Cheung and Sanjiv Singh",
   title = "Integrated long-range UAV/UGV collaborative target tracking",
   booktitle = "Proc. SPIE, Unmanned Systems Technology XI Conference",
   month = "April",
   year = "2009",
   volume = "7332",
}