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.
Fielded military unmanned systems are currently extending the reach of the U.S. forces in surveillance and
reconnaissance missions. Providing long-range eyes on enemy operations, unmanned aerial vehicles (UAVs), such as the
AeroVironment Raven, have proven themselves indispensable without risking soldiers' lives. Meanwhile, unmanned
ground vehicles (UGVs), such as the iRobot PackBot, are quickly joining ranks in Explosive Ordnance Disposal (EOD)
missions to identify and dispose of ordnance or to clear roads and buildings. UAV-UGV collaboration and the benefit of
force multiplication is increasingly more tangible. iRobot Corporation and CMU Robotics Institute are developing the
capability to simultaneously control the Raven small UAV (SUAV) and PackBot UGV from a single operator control
unit (OCU) via waypoint navigation. Techniques to support autonomous collaboration for pursuing and tracking a
dismounted soldier will be developed and integrated on a Raven-PackBot team. The Raven will survey an area and
geolocate an operator-selected target. The Raven will share this target location with the PackBot and together they will
collaboratively pursue the target intelligently to maintain track on the target. We will accomplish this goal by
implementing a decentralized control and data fusion software architecture. The PackBot will be equipped with on-board
waypoint navigation algorithms, a Navigator Payload containing a stereo-vision system, GPS, and a high-accuracy IMU.
The Raven will have two on-board cameras, a side-looking and a forward-looking optical camera. The Supervisor OCU
will act as the central mission planner, allowing the operator to monitor mission events and override vehicle tasks.
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