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360-Degree Visual Detection and Target Tracking on an Autonomous Surface VehicleThis paper describes perception and planning systems of an autonomous sea surface vehicle (ASV) whose goal is to detect and track other vessels at medium to long ranges and execute responses to determine whether the vessel is adversarial. The Jet Propulsion Laboratory (JPL) has developed a tightly integrated system called CARACaS (Control Architecture for Robotic Agent Command and Sensing) that blends the sensing, planning, and behavior autonomy necessary for such missions. Two patrol scenarios are addressed here: one in which the ASV patrols a large harbor region and checks for vessels near a fixed asset on each pass and one in which the ASV circles a fixed asset and intercepts approaching vessels. This paper focuses on the ASV's central perception and situation awareness system, dubbed Surface Autonomous Visual Analysis and Tracking (SAVAnT), which receives images from an omnidirectional camera head, identifies objects of interest in these images, and probabilistically tracks the objects' presence over time, even as they may exist outside of the vehicle's sensor range. The integrated CARACaS/SAVAnT system has been implemented on U.S. Navy experimental ASVs and tested in on-water field demonstrations.
Document ID
20110008459
Acquisition Source
Headquarters
Document Type
Reprint (Version printed in journal)
Authors
Wolf, Michael T
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Assad, Christopher
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Kuwata, Yoshiaki
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Howard, Andrew
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Aghazarian, Hrand
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Zhu, David
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Lu, Thomas
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Trebi-Ollennu, Ashitey
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Huntsberger, Terry
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Date Acquired
August 25, 2013
Publication Date
November 1, 2010
Publication Information
Publication: Journal of Field Robotics
Volume: 27
Issue: 6
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
AD-A531455
Funding Number(s)
CONTRACT_GRANT: NMO716027
CONTRACT_GRANT: N00014-09-IP-2-0008
Distribution Limits
Public
Copyright
Other
Keywords
ASV (AUTONOMOUS SEA SURFACE VEHICLE)
AUTONOMY SYSTEMS

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