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Small Unit Mobility Enhancement Technology (SUMET) Program Funded by the Office of Naval Research (ONR)
October 2012
Distribution Statement A: Approved for Public Release.
Oct.%2012% Distribu/on%Statement%A:%%Approved%for%Public%Release% 2%
Office%of%Naval%Research%Code%30%Maneuver%%Small%Unit%Mobility%Enhancement%Technology%(SUMET)%%Oct%2009%F%Present%
• Low-Cost, E/O-only perception • Autonomy in Austere/Harsh Environments • Reliable ops during GPS drop-outs. • Highly leverage previous DoD
investments, and performer IP (government purpose rights).
• Open, scalable, modular, and extensible Government Owned architecture.
• Target Mission: USMC Logistics “Connector” FOB to Squad
• Platform Independent: HMMWV -> ITV • TARDEC and SPAWAR actively utilizing
SUMET source code.
Program%Objec:ves%
Demo%at%US%Army%2012%Robo:cs%Rodeo%
Performers%• Southwest Research Institute (SwRI)
– Soar Technology, Inc. – Battelle Memorial Institute – Sandia National Lab – Booz Allen Hamilton
• Naval Surface Warfare Center - Dahlgren • SSC-PAC
Oct.%2012% 3%
Far%Field%Path%
Local%Goal%
Near%Field%Path%
Cost%Map%
EVF1%
Extended%Local%Goal%Dirt% Grass%
Material%Classifica/on% Cost%Map%and%Path%Planners%
Foliage%Wood%Sky%
Object=Dismount%
SUMET%EOFOnly%Percep/on%%and%Autonomy%Path%Planning%
Distribu/on%Statement%A:%%Approved%for%Public%Release%
Oct.%2012% Distribu/on%Statement%A:%%Approved%for%Public%Release% 4%
Object Detection – (ROC) Relative Operating Characteristic
GPS%Denied%Localiza/on%
Oct.%2012% Distribu/on%Statement%A:%%Approved%for%Public%Release% 5%
ω% v%
Hall%effect%wheel%speed%
sensor%
Cameras%
State Estimator (EKF)
θ%X%
Fiber%op/c%gyro%
Mototron (Low-level Controller)
AHRS%(IMU)%
DBW%System%Feedback%
Visual Odometry
GPS%Receiver%
Compass%
0.4%%error%over%distance%traveled%
Oct.%2012% Distribu/on%Statement%A:%%Approved%for%Public%Release% 6%
SwRI%Contact%Informa/on%
Ryan%D.%Lamm,%Manager%R&D%Intelligent%Vehicle%Systems%Sec/on%
[email protected]%+1.210.522.5350%
Oct.%2012% Distribu/on%Statement%A:%%Approved%for%Public%Release% 7%