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REPORT DATE (DD-MM-YYYY) 2. REPORT TYPE 3. DATES COVERED (From - To) 01/01/2007 Technical Report - Briefing Charts 4. TITLE AND SUBTITLE 5a. CONTRACT NUMBER Robotics Collaborative Technology Alliance 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) 8. PERFORMING ORGANIZATION Army Research Laboratory Adelphi MD United States REPORT NUMBER 9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR'S ACRONYM(S) Army Research Laboratory Adelphi MD United States 11. SPONSOR/MONITOR'S REPORT NUMBER(S) 12. DISTRIBUTION/AVAILABILITY STATEMENT A = Approved For Public Release 12/4/2015 No 13. SUPPLEMENTARY NOTES 14. ABSTRACT 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF 18. NUMBER 19a. NAME OF RESPONSIBLE PERSON ABSTRACT OF a. REPORT b. ABSTRACT c. THIS PAGE PAGES U U U 19b. TELEPHONE NUMBER (Include area code) Standard Form 298 (Rev. 8/98) Prescribed by ANSI Std. Z39.18 ROBOTICS COLLABORATIVE TECHNOLOGY ALLIANCE Bill Borgia Jon Bornstein Consortium Manager Collaborative Alliance Manager General Dynamics Robotic Systems Army Research Laboratory Robotics CTA Overview Army Needs + Experience = Applied Research Operations LLooggiissttiiccss Chem/Bio Security Network Battle Team Focus Constrained Bandwidth Centric Engage Recon Info. Dissemination UV-C2 Interoperability User Human Performance Trust in Automation MMoouunntteedd Current Future Centric Workload Theory RCTA Intelligent DDiissmmoouunntteedd Joint Control Architecture Autonomous Mobility Tactical Behaviors RCTA Safe Operations Robot Research Centric 2001-2010 C2 Vehicle Hybrid Architectures & Reactive Behaviors Other CTAs C&N, P&E, ADA, Sensors 1-n UGVs 1-n UGSs 1-n UAVs Using the best resources in Government, Industry and C2 for Manned / Unmanned, Air / Ground Battle Teams Academia to develop and validate robotic technologies that meet current and future Army needs… Robotics CTA Task Areas CTA Inception Required •Terrain Based Preplanning •Decision Aids for Offloading Human Machine Requires advancing the •Fixed Behaviors with Fragile Operator Performance Interface •Rapid Context Switching Between •Limited Replanning Under Failure Multiple Platforms state of the art in three Conditions •Robotic Platform Supervision & •Extensive Human Interaction Tasking critical areas: Required •Multi-Model Input/Output •Multi-Platform & Mixed Asset Tasking • Perception Required •Automatic Planning & CTA Inception • Intelligent Control Replanning with Limited Human Interaction •Human Intensive Planning •Dynamic Replanning Based •Extensive Teleoperation Required on Perception, Tactical •Operator Saturation • Human Machine Interface Information, & Frag Orders •Robust Behaviors to Operate Over a Wide Range of CURRENT Situations •Program making Requires integrating steady progress toward required research advances from capabilities all three areas using a Intelligent system-level approach to Perception Control provide a mechanism for: CTA Inception Required •Road Following on Well •All Weather, Day/Night Defined Surfaces •Complex Environments • Field experimentation and •Slow Cross-Country •Recognition of Tactical Situations Technology at Program Inception Navigation in Relatively •Speed Commensurate with research validation Benign Terrain OPTEMPO State of Current Technology •Highly Sensitive to •Perception for Mid-Range Planning Technology Level Resulting from Environmental Effects •Understanding of Moving Agents • User input CTA Investment •Vulnerability while while Platform is in Motion Platform is in Motion •Perception to enable Vehicle Safeguarding Robotics CTA Members and Objectives Consortium Members  General Dynamics Objectives Robotic Systems Make the research investments that Technical Areas (Lead Industrial Partner) support the Army’s robotic system  Advanced Perception  Carnegie Mellon University development goals:  Applied Systems • Develop perception technologies  Intelligent Control & Intelligence that allow robotic vehicles to sense Behavior Development  Jet Propulsion Laboratory and understand their environment;  Alion Science &  Human / Machine Technology • Develop intelligent control Interfaces  BAE Systems technologies and architectures  Sarnoff Corporation enabling robotic systems to  SRI International autonomously plan, execute, and  Florida A&M University monitor operational tasks  University of Maryland undertaken in complex, tactical  PercepTek environments;  Robotic Research • Develop human-machine interfaces  Signal Systems Corp that allow soldiers to effectively task  Howard University robotic systems and minimize  NC A&T University operator workload.  University of Pennsylvania  Skeyes Unlimited Robotics CTA – Member Distribution University of Maryland Advances in Sensors and Perception LADAR Development & Processing Algorithms Terrain Classification Moving Agent Understanding Air / Ground & Mid-Range Sensing Advances in Intelligent Control Global Planning for Robotic Vehicles Local Planning for Robotic Vehicles 2007 Tactical Behaviors Collaborative Operations Advances in Human Machine Interface Scalable Human Machine Interfaces Multi-Modal Input Workload / Trust in Automation HMI Interface Extensions Evaluation and Experimentation Overview Stages of Experimentation and Integration Proof of Concept Testing with COTS Hardware Researchers test proof of concept in their own labs with commercial off-the-shelf (COTS) hardware. The image at right is from the Carnegie Mellon Robotics Institute Laboratory. Perception and Autonomous Navigation Testing with GDRS Standardized Test Facilities GDRS facilities are used to test perception and autonomous navigation tasks. Data is analyzed against the ground truth of known obstacles. ARL and NIST design quantitative experiments. Simulation Testing with RCTA SIL The RCTA Systems Integration Lab (SIL) at GDRS provides a hardware-in-the loop simulation testbed for Advanced Perception, Intelligent Control Architecture (ICA) and Human Machine Interface (HMI) technologies. Integration and Testing in Realistic Environments New technology is integrated and tested on the Demo III XUV and commercial vehicles in various terrains including rolling and forested terrain, as well as a MOUT environment at Fort Indiantown Gap.