Intelligent Unmanned Ground Vehicles

1 Introduction.- 1.1 Overview.- 1.2 The HMMWV Testbed.- 1.3 Key Software Components.- 1.4 Integrated Systems.- 1.5 Acknowledgments.- 2 A Behavior-based Architecture for Mobile Navigation.- 2.1 Introduction.- 2.2 The Distributed Architecture for Mobile Navigation.- 2.3 Command Arbitration.- 2.4 Behaviors.- 2.5 Evolutionary Development and Integration.- 2.6 Extensions.- 2.7 Conclusion.- 3 SAUSAGES: Between Planning and Action.- 3.1 Introduction.- 3.2 The road to SAUSAGES.- 3.3 Description of SAUSAGES.- 3.4 Implementation of SAUSAGES.- 3.5 SAUSAGES and Annotated Maps.- 3.6 SAUSAGES and planners.- 3.7 Conclusions.- 4 Neural Network Vision for Robot Driving.- 4.1 Introduction.- 4.2 Network Architecture.- 4.3 Network Training.- 4.4 Performance Improvement Using Transformations.- 4.5 Results and Comparison.- 4.6 Discussion.- 5 Vision-Based Neural Network Road and Intersection.- 5.1 Introduction.- 5.2 The virtual camera.- 5.3 Detection philosophy.- 5.4 Other systems.- 5.5 Experimental results.- 5.6 Conclusions and future work.- 6 SMARTY: Point-Based Range Processing for Autonomous Driving.- 6.1 Introduction.- 6.2 Range Date Acquisition.- 6.3 Updating Cell State.- 6.4 Local Map and Arc Generation.- 6.5 Maintaining Transformations and Scrolling.- 6.6 Performance.- 7 RANGER: Feedforward Control Approach to Autonomous Navigation.- 7.1 Introduction.- 7.2 Differences from Previous Systems.- 7.3 Analytical Basis of the Concept.- 7.4 Hierarchical Planning and Arbitration.- 7.5 Path Tracking.- 7.6 Adaptive Regard.- 7.7 Real Time Latency Modelling.- 7.8 Feedforward Simulation.- 7.9 Tactical Planning.- 7.10 Speed Planning.- 7.11 High Speed Autonomy as an Optimal Control Problem.- 8 Sensor Fusion For Autonomous Navigation Using Neural Networks.- 8.1 Introduction.- 8.2 The Task at Hand.- 8.3 Network Architecture.- 8.4 Experiments and Results.- 8.5 Conclusion.- 9 Sonar-Based Outdoor Vehicle Navigation.- 9.1 Introduction.- 9.2 Hardware Configuration.- 9.3 Local Grid Map.- 9.4 Obstacle Avoidance.- 9.5 Object Tracking.- 9.6 Parallel Parking.- 9.7 Results and Conclusions.- 10 STRIPE: Low-Bandwidth and High-Latency Teleoperation.- 10.1 Introduction.- 10.2 Other Low-Bandwith High-Delay Systems.- 10.3 STRIPE Implementation Details.- 10.4 Investigating the Interface.- 10.5 Conclusion.- 11 Optimal and Efficient Path Planning for Partially Known Environments.- 11.1 Introduction.- 11.2 The D* Algorithm.- 11.3 Soundness, Optimality, and Completeness.- 11.4 Experimental Results.- 11.5 Conclusions.- 12 Dynamic Mission Planning for Multiple Mobile Robots.- 12.1 Introduction.- 12.2 Problem Statement.- 12.3 Technical Approach.- 12.4 Prototype System.- 12.5 Results.- 12.6 Conclusion and Future Work.- 13 Integrating Position Estimation and Perception for Navigation.- 13.1 Introduction.- 13.2 Position Measurement and Error Modeling.- 13.3 Annotated Maps.- 13.4 Filtered Position Updates.- 13.5 Experiments and Results.- 13.6 Conclusion.- 14 An Integrated System for Autonomous Off-Road Navigation.- 14.1 Introduction.- 14.2 System Overview.- 14.3 Autonomous Navigation: An Experiment.- 14.4 Perception.- 14.5 Local Map Management.- 14.6 Path Planning.- 14.7 Combining Obstacle Detection and Goal Seeking: An Example.- 14.8 System Performance and Future Work.- 15 A Navigation System for Goal Acquisition in Unknown Environments.- 15.1 Introduction.- 15.2 The Navigation System.- 15.3 Experimental Results.- 15.4 Conclusion.