MDARS Interior Platform

The Mobile Detection Assessment Response System (MDARS) is an automated robotic security and inventory system capable of controlling multiple indoor and/or outdoor autonomous platforms from a single host console. Separate development efforts target: 1) warehouse interiors and 2) outdoor storage areas. The MDARS Interior system is designed to run on its own, with each robot patrolling a designated region within a warehouse environment until an “exceptional event” occurs. Typical exceptional events include the detection of an intruder, the robot becoming trapped, or discovery of a fire. When such an event occurs, a guard can intervene from the host console and directly interact with the platform that reported the event. During patrol the robot performs automated security, environmental, and inventory assessment functions. Each platform is equipped with microwave and passive-infrared motion sensors to detect and a video camera to track potential intruders. A platform-mounted tagreading device performs inventory assessment functions while the robot is patrolling the warehouse. The tag reader communicates with small radio frequency (RF) transponder tags attached to high-valued or pilferable items. Tag responses pinpoint each item, its location, and time of detection. This information is uploaded (via the command and control console) to an inventory database that can be queried on demand to report misplaced or missing stock. As the initial MDARS Interior implementation involves eight Cybermotion K2A Navmaster robots, coordinating and controlling a system of this complexity requires the fusion of data from many sources. This paper describes upgrades to the basic K2A platform that were required to support the MDARS requirements (and some commercial applications as well) in the areas of navigation, intrusion detection, and automated inventory assessment, as well as the development of programming constructs to accomplish this integration in a cost-effective fashion.