Abstract
ROBART III is intended as an advanced demonstration platform for non-lethal tactical response, extending the concepts of reflexive teleoperation into the realm of coordinated weapons control (i.e., sensor-aided control of mobility, camera, and weapon functions) in law enforcement and urban warfare scenarios. A rich mix of ultrasonic and optical proximity and range sensors facilitates remote operation in unstructured and unexplored buildings with minimal operator oversight. Supervised autonomous navigation and mapping of interior spaces is significantly enhanced by an innovative algorithm which exploits the fact that the majority of man-made structures are characterized by (but not limited to) parallel and orthogonal walls. This paper presents a brief overview of the advanced telereflexive man-machine interface and its associated “human-centered mapping” strategy.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Aviles, W.A., Hughes, T.W., Everett, H.R., Umeda, A.Y., Martin, S.W., Koyamatsu, A.H., Solorzano, M.R., Laird, R.T., and McArthur, S.P. 1990. Issues in mobile robotics: The unmanned ground vehicle program teleoperated vehicle. SPIE Mobile Robots V, Boston, MA, pp. 587–597.
Borenstein, J., Everett, H.R., and Feng, L. 1996. Navigating Mobile Robots: Systems and Techniques, A.K. Peters Ltd.: Wellesley, MA.
Chung, H., Ojedo, L., and Borenstein, J. 2000. Accurate mobile robot dead-reckoning with a precision calibrated fiber optic gyro. IEEE International Conference for Robotics and Automation, San Francisco, CA.
Everett, H.R., Gilbreath, G.A., Tran, T., and Nieusma, J.M. 1990. Modeling the Environment of a Mobile Security Robot. Technical Document 1835, Naval Ocean Systems Canter, San Diego, CA.
Everett, H.R. and Nieusma, J.M. 1994. Feedback System for Remotely Operated Vehicles, Navy Case No. 73322, U.S. Patent No. 5,309,140.
Gutmann, J.-S. and Konolige, K. 2000. Incremental mapping of large cyclic environments. CIRA.
Konolidge, K. 1997. Small vision systems: Hardware and implementation. Eighth International Symposium on Robotics Research, Hayama, Japan.
Krotkov, E. and Blitch, J. 1999. The defense advanced research projects agency (DARPA) tactical mobile robotics program. International Journal of Robotics Research, 18(7):769–776.
Laird, R.T. and Everett, H.R. 1990. Reflexive teleoperated control. Association for unmanned vehicle systems. 17th Annual Technical Symposium and Exhibition (AUVS '90), Dayton, OH, pp. 280–292.
Moravec, H.P. and Elfes, A. 1985. High resolution maps from wide angle sonar. In Proceedings of the 1985 IEEE International Conference on Robotics and Automation, St. Louis, MO, pp. 116–121.
Thrun, S., Fox, D., Burgard, W., and Dellaert, F. 2000. Robust Monte Carlo localization for mobile robots. Carnegie Mellon University, Pittsburgh, PA, CMU-CS–00–125.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Everett, H., Gilbreath, G. & Ciccimaro, D. An Advanced Telereflexive Tactical Response Robot. Autonomous Robots 11, 39–47 (2001). https://doi.org/10.1023/A:1011204111813
Issue Date:
DOI: https://doi.org/10.1023/A:1011204111813