NDLI: Robotics collaborative technology alliance (RCTA) 2011 baseline assessment

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Robotics collaborative technology alliance (RCTA) 2011 baseline assessment

Content Provider	ACM Digital Library
Author	Camden, Richard S. Bodt, Barry A. Childers, Marshal A.
Abstract	This paper discusses the results of the Robotics Collaborative Technology Alliance (RCTA) 2011 baseline assessment conducted over three days in August at the Combined Arms Collective Training Facility at Fort Indiantown Gap, PA. The focus of the effort was on behavior primitives that are necessary for a small robot to autonomously perceive, "Look", and maneuver, "Move", which are two of the five fundamental UGV capabilities identified by the RCTA ("think," "look," "move," "talk," and "work"). An autonomous Talon UGV was challenged to autonomously navigate cul-de-sacs, avoid pedestrians, climb stairs, and negotiate drop-offs, doorways, alleys, and street clutter having both static and dynamic obstacles present. Each of these experimental vignettes had a more detailed set of experimental conditions to be varied (e.g., door width, stair configuration, and obstacle density in a scene.) In addition, a mapping capability was exercised within two buildings to locate walls and room clutter, and a "street view" camera function provided an opportunity for remote interpretation of vision acuity charts mounted on walls within the buildings. The intent was not to revisit physical capabilities of the Talon but rather to determine its autonomous performance over a set of primitive behaviors required for successfully operating in an urban environment with the potential to assist soldiers in reconnaissance or other tasks. The study was successful in identifying some limitations to autonomy, for example, with regard to pedestrian interactions, drop-offs, and doorways but also highlighted an intelligent control system able to overcome varying degrees of disruption in the planned route due to minor and major obstacles.
Starting Page	174
Ending Page	181
Page Count	8
File Format	PDF
ISBN	9781450311267
DOI	10.1145/2393091.2393125
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2012-03-20
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Talon platform Urban terrain Autonomous ground vehicle
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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