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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.

Small Unit Mobility Enhancement Technology (SUMET)alaink/Orf467F12/ITFVHA12... · 2012. 11. 15. · Small Unit Mobility Enhancement Technology (SUMET) Small Unit Mobility Enhancement

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Page 1: Small Unit Mobility Enhancement Technology (SUMET)alaink/Orf467F12/ITFVHA12... · 2012. 11. 15. · Small Unit Mobility Enhancement Technology (SUMET) Small Unit Mobility Enhancement

Small Unit Mobility Enhancement Technology (SUMET) Program Funded by the Office of Naval Research (ONR)

October 2012

Distribution Statement A:  Approved for Public Release.

Page 2: Small Unit Mobility Enhancement Technology (SUMET)alaink/Orf467F12/ITFVHA12... · 2012. 11. 15. · Small Unit Mobility Enhancement Technology (SUMET) Small Unit Mobility Enhancement

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

Page 3: Small Unit Mobility Enhancement Technology (SUMET)alaink/Orf467F12/ITFVHA12... · 2012. 11. 15. · Small Unit Mobility Enhancement Technology (SUMET) Small Unit Mobility Enhancement

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%

Page 4: Small Unit Mobility Enhancement Technology (SUMET)alaink/Orf467F12/ITFVHA12... · 2012. 11. 15. · Small Unit Mobility Enhancement Technology (SUMET) Small Unit Mobility Enhancement

Oct.%2012% Distribu/on%Statement%A:%%Approved%for%Public%Release% 4%

Object Detection – (ROC) Relative Operating Characteristic

Page 5: Small Unit Mobility Enhancement Technology (SUMET)alaink/Orf467F12/ITFVHA12... · 2012. 11. 15. · Small Unit Mobility Enhancement Technology (SUMET) Small Unit Mobility Enhancement

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%

Page 6: Small Unit Mobility Enhancement Technology (SUMET)alaink/Orf467F12/ITFVHA12... · 2012. 11. 15. · Small Unit Mobility Enhancement Technology (SUMET) Small Unit Mobility Enhancement

Oct.%2012% Distribu/on%Statement%A:%%Approved%for%Public%Release% 6%

Page 7: Small Unit Mobility Enhancement Technology (SUMET)alaink/Orf467F12/ITFVHA12... · 2012. 11. 15. · Small Unit Mobility Enhancement Technology (SUMET) Small Unit Mobility Enhancement

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%