7 Nov 2023

Integrating MOVEit Motion Constraints on a Novel Robotic Manipulator

Abstract: MOVEit, a widely used Robot Operating System framework, plans composite tasks, where the high-level sequence of actions is fixed and known in advance. However, these tasks need to be tailored and adapted to the environmental context. This framework uses custom trajectory planners, known as controllers, to solve goals that are fully defined within the configuration space. Libraries, such as the Open Motion Planning Library, provide a collection of motion planners that can solve task-space goals. An exact spatial and joint replication of the robotic manipulator’s mechanics, typically Universal Robot Description Format and Semantic Robot Description Format files, is required. Common arms such as the Panda-Manipulator and OpenMANIPULATOR-X provide these files in their respective public repositories, but custom arms require significant modification or even a complete rewrite of these files.

31 Oct 2023

Establishing a Series of Dust Event Case Studies for East Asia

Abstract: Dust aerosols have a wide range of effects on air quality, health, land-management decisions, aircraft operations, and sensor data interpretations. Therefore, the accurate simulation of dust plume initiation and transport is a priority for operational weather centers. Recent advancements have improved the performance of dust prediction models, but substantial capability gaps remain when forecasting the specific location and timing of individual dust events, especially extreme dust outbreaks. Operational weather forecasters and US Army Engineer Research and Development Center (ERDC) researchers established a series of reference case study events to enhance dust transport model evaluation. These reference case studies support research to improve modeled dust simulations, including efforts to increase simulation accuracy on when and where dust is lofted off the ground, dust aerosols transport, and dust-induced adverse air quality issues create hazardous conditions downstream. Here, we provide detailed assessments of four dust events for Central and East Asia. We describe the dust-event lifecycle from onset to end (or when dust transports beyond the area of interest) and the synoptic and mesoscale environ-mental conditions governing the process. Analyses of hourly reanalysis data, spaceborne lidar and aerosol optical depth retrievals, upper-air soundings, true-color satellite imagery, and dust-enhanced false-color imagery supplement the discussions.

31 Oct 2023

Energy Atlas—Mapping Energy-Related Data for DoD Lands: Phase 3—Data and Portal Expansion: Northeast CONUS

Abstract: The DoD is a significant land user in northeast United States overseeing approximately 375 k acres of land with a total value of $113 B. The Department of Energy has found that major impacts from climate change will threaten energy infrastructure in the northeast US moving into the future. Current spatial information related to the energy resources and infrastructure on and adjacent to DoD installations can play a vital role in decision-making for sustainable and resilient installation planning in the region. The Energy Atlas (EA) portal provides a secure value-added resource to inform the decision-making process for current and future investment in installation infrastructure, energy management, and improvements to energy resiliency and sustainability. The EA aggregates spatial data for energy, infrastructure, and related environmental resources and facilitates access to that information through a secure online portal. The EA is hosted on a Common Access Card–authenticated portal accessible to DoD decision-makers and their partners through the Intelligence Community Geographic Information System (GIS) portal. The expansion of data coverage within the EA portal helps the DoD account for energy in contingency planning, acquisition, and lifecycle requirements in the northeast US and ensures facilities can maintain operations in the face of disruption.

29 Sep 2023

Low Size, Weight, Power, and Cost (SWaP-C) Payload for Autonomous Navigation and Mapping on an Unmanned Ground Vehicle

Abstract: Autonomous navigation and unknown environment exploration with an unmanned ground vehicle (UGV) is extremely challenging. This report investigates a mapping and exploration solution utilizing low size, weight, power, and cost payloads. The platform presented here leverages simultaneous localization and mapping to efficiently explore unknown areas by finding navigable routes. The solution utilizes a diverse sensor payload that includes wheel encoders, 3D lidar, and red-green-blue and depth cameras. The main goal of this effort is to leverage path planning and navigation for mapping and exploration with a UGV to produce an accurate 3D map. The solution provided also leverages the Robot Operating System

20 Sep 2023

Mapping and Localization Within a Mock Sewer System

Abstract: Herein, we explored a robot’s ability to localize and map, both in simulation and on a physical robot, within a mock sewer system. Mapping and localization techniques were first developed and tested in simulation and were then transitioned to the actual robot for additional physical testing. Several odometry and simultaneous localization and mapping (SLAM) techniques, including gmapping, SLAM toolbox, elevation mapping, and RTABMap, were evaluated for this particular environment. The results of the odometry and the various SLAM approaches are discussed in detail.

12 Sep 2023

UGV SLAM Payload for Low-Visibility Environments

Abstract: Herein, we explore using a low size, weight, power, and cost unmanned ground vehicle payload designed specifically for low-visibility environments. The proposed payload simultaneously localizes and maps in GPS-denied environments via waypoint navigation. This solution utilizes a diverse sensor payload that includes wheel encoders, inertial measurement unit, 3D lidar, 3D ultrasonic sensors, and thermal cameras. Furthermore, the resulting 3D point cloud was compared against a survey-grade lidar.

29 Aug 2023

Unmanned Ground Vehicle (UGV) Full Coverage Planning with Negative Obstacles

Abstract: We explored approaches that offer full coverage path planning while simultaneously avoiding negative obstacles. These approaches are specific to unmanned ground vehicles (UGVs), which need to constantly interact with a traversable ground surface. We tested multiple potential solutions in simulation, and the results are presented herein. Full coverage path planner (FCPP) approaches were evaluated based on their ability to discretize their paths, use waypoints effectively, and be easily integrated with our current robot platform. For negative obstacles, we explored approaches that will integrate with our current navigation stack. The preferred solution will allow for teleoperation, waypoint navigation, and full autonomy while avoiding positive and negative obstacles

18 Aug 2023

Unmanned Ground Vehicle (UGV) Path Planning in 2.5D and 3D

Abstract: Herein, we explored path planning in 2.5D and 3D for unmanned ground vehicle (UGV) applications. For real-time 2.5D navigation, we investigated generating 2.5D occupancy grids using either elevation or traversability to determine path costs. Compared to elevation, traversability, which used a layered approach generated from surface normals, was more robust for the tested environments. A layered approached was also used for 3D path planning. While it was possible to use the 3D approach in real time, the time required to generate 3D meshes meant that the only way to effectively path plan was to use a preexisting point cloud environment. As a result, we explored generating 3D meshes from a variety of sources, including handheld sensors, UGVs, UAVs, and aerial lidar.

7 Jul 2023

Docker Containers and Images for Robot Operating System (ROS)–Based Applications

Abstract: Docker is a tool designed to make it easier to create, deploy, and run applications by using containers. Containers allow a developer to package and ship out an application with all of the parts it needs, such as libraries and other dependencies. Herein, we investigate using a Docker image to deploy and run our Robot Operating System (ROS)–based payload on a robot platform. Ultimately, this would allow us to quickly and efficiently deploy our payload on multiple platforms.

20 Jun 2023

3D Mapping and Navigation Using MOVEit

Abstract: Until recently, our focus has been primarily on the development of a low SWAP-C payload for deployment on a UGV that leverages 2D mapping and navigation. Due to these efforts, we are able to autonomously map and navigate very well within flat indoor environments. This report will explore the implementation of 3D mapping and navigation to allow unmanned vehicles to operate on a variety of terrains, both indoor and outdoor. The method we followed uses MOVEit, a motion planning framework. The MOVEit application is typically used in the control of robotic arms or manipulators, but its handling of 3D perception using OctoMaps makes it a promising software for robots in general. The challenges of using MOVEit outside of its intended use case of manipulators are discussed in this report.