Better Robots 1

The Goal: More Robots Enabling Fewer Soldiers• Military “robots” today lack autonomy

– Currently, many soldiers control one robot– Want few soldiers working with a team of agile robots (force multiplication)

– Put less soldiers in harms way

• Better robots for monitoring– Enable soldiers w/ persistent and pervasive

ISR, including from hard to reach places (e.g., inside buildings/caves)

• Better robots for logistics– Replace soldiers in the supply chain w/

autonomous robots and vehicles

RQ1-Predator GCS

Better Robots 2

Technical Approach

• This is “a new kind of war” - robots (and soldiers) must quickly deploy and adapt in a huge variety of war-fighting conditions.

• Our technical approach emphasizes:– Planning and Reasoning under Uncertainty. – Perception and Awareness. – Control for Manipulation and Mobility.

• Including land, sea, and air mobility.

– Communication and Coordination.

Better Robots 3

Example: UAV Control

• Raven, Predator, Global Hawk,…• Pilots say “It’s like flying a plane

while looking through a straw”

• UAVs shouldn’t be constrained by the pilot– Pull more “G’s”– High-bandwidth, sensor-rich control

• Better control can improve maneuverability and efficiency

Better Robots 4

Example: UAV Control

• Machine learning control laws can expand the flight envelope (e.g., perching, flying in buildings/caves)

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• GPS-denied navigation• Energy harvesting: In most environmental conditions,

Global Hawk loitering could consume zero energy (there is energy in the air)

330 fps

Better Robots 5

Example: Robotic Supply Chains

• Supply chain must focus on responsiveness and surge capabilities

• Simple tasks like unloading put soldiers in danger

• Autonomous robotic vehicles which coordinate to optimize supply movement

• Loading/Unloading automated by robotic workers

Better Robots 6

Example: Robotic Unloading

• Robust manipulation

• Key principles:– Reasoning about

uncertainty– Mechanical compliance– Working w/ humans (safe

& robots take the easy packages)

Video of domo + tlp’s sim

Better Robots 7

Today Tomorrow Day After That• Tele-operated unmanned vehicles used effectively by special forces

• Supply chain implemented by human pilots/drivers and loaders/unloaders

• Humans interact w/ robots through joystick interfaces

• FCS vehicles in common use, but still require teams of trained personnel

• Robotic ground vehicles perform routine supply runs in friendly areas.

• Humans begin to interact w/ robots through restricted speech and gesture commands

• Autonomous vehicles require minimal supervision, and outperform the best pilots

• Robotic supply chain improves efficiency and surge response, and removes humans from danger

• Humans interact w/ robots as team-mates

Better Robots 8

Proposed Applications

Logistics: Packing Loading Transportation

Monitoring: Surveillance Patrol Observation

Application Demonstrations

Planning and Reasoning

UncertaintyDynamic worldScalePrediction

Perception and Awareness

VisionSpeechGestureLocalizationSurround awareness

Communication and Coordination

TeamingCoordinated motion

Manipulation and Control

GraspingRolling, legged,flying mobility

Technical Areas

Better Robots 9

Backup slide w/ other CSAIL vehicles