Adaptive representation for dynamic environment, vehicle, and mission complexity

Jack A. Collier; Benoit Ricard; Bruce Leonard Digney; David Cheng; Michael Trentini; Blake Beckman

doi:10.1117/12.541148

2 September 2004 Adaptive representation for dynamic environment, vehicle, and mission complexity

Jack A. Collier, Benoit Ricard, Bruce Leonard Digney, David Cheng, Michael Trentini, Blake Beckman

Proceedings Volume 5422, Unmanned Ground Vehicle Technology VI; (2004) https://doi.org/10.1117/12.541148
Event: Defense and Security, 2004, Orlando, Florida, United States

Abstract

In order for an Unmanned Ground Vehicle (UGV) to operate effectively it must be able to perceive its environment in an accurate, robust and effective manner. This is done by creating a world representation which encompasses all the perceptual information necessary for the UGV to understand its surroundings. These perceptual needs are a function of the robots mobility characteristics, the complexity of the environment in which it operates, and the mission with which the UGV has been tasked. Most perceptual systems are designed with predefined vehicle, environmental, and mission complexity in mind. This can lead the robot to fail when it encounters a situation which it was not designed for since its internal representation is insufficient for effective navigation. This paper presents a research framework currently being investigated by Defence R&D Canada (DRDC), which will ultimately relieve robotic vehicles of this problem by allowing the UGV to recognize representational deficiencies, and change its perceptual strategy to alleviate these deficiencies. This will allow the UGV to move in and out of a wide variety of environments, such as outdoor rural to indoor urban, at run time without reprogramming. We present sensor and perception work currently being done and outline our research in this area for the future.

Citation Download Citation

Jack A. Collier, Benoit Ricard, Bruce Leonard Digney, David Cheng, Michael Trentini, and Blake Beckman "Adaptive representation for dynamic environment, vehicle, and mission complexity", Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); https://doi.org/10.1117/12.541148

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available