A smart Unmanned Ground Vehicle (UGV) is designed and developed for some application specific missions to operate predominantly in hazardous environments. In our work, we have developed a small and lightweight vehicle to operate in general crosscountry terrains in or without daylight. The UGV can send visual feedbacks to the operator at a remote location. Onboard infrared sensors can detect the...

Performing physical acceptance tests of an Unmanned Ground Vehicle (UGV) can be expensive and time-consuming. This paper discusses simulation-based acceptance testing and failure analysis for UGVs. Both dynamic and static simulation models are developed. A systematic statistical testing approach is presented to quantitatively assess when a simple static simulation model can be used to approxima...

We describe a program to construct a model of a road junction using data from a single camera. The model specifies the ground plane orientation in camera coordinates and the positions of traffic lanes, and is obtained entirely from observations of vehicle movements, with no static image analysis. At present, the model is restricted to representing straight lane segments. We describe our methods...

The goal of this project is to implement a semi-autonomous system consisting of two ground vehicles that simulate a convoy control scheme using operator control for the master and autonomous control for the slave. Using a control system based on platform kinematics in conjunction with the open source ROS framework, three different convoy scenarios are investigated using two Clearpath Husky A100...

This paper introduces our robotic system named UGAV (Unmanned Ground-Air Vehicle) consisting of two semi-autonomous robot platforms, an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicles (UAV). The paper focuses on three topics of the inspection with the combined UGV and UAV: (A) teleoperated control by means of cell or smart phones with a new concept of automatic configuration of th...

Abstract. Unmanned ground vehicles have important applications in high speed, rough terrain scenarios. In these scenarios unexpected and dangerous situations can occur that require rapid hazard avoidance maneuvers. At high speeds, there is limited time to perform navigation and hazard avoidance calculations based on detailed vehicle and terrain models. This paper presents a method for high spee...

2 Abstract In this paper, we proposed a Trajectory Reconstruction Model as an improvement to existing speed-based travel time estimation models. The proposed model utilizes point-based speed data collected by existing Intelligent Transportation Systems (ITS). Using the smoothing scheme proposed in this paper, it is possible to construct a speed surface as a function of space and time. Then, one...

Detection and tracking of a known target in video sequences is a common and important problem in image processing. In this paper, we will focus on the scenario of an unmanned air vehicle (UAV) platform based image sensor as it attempts to track a ground vehicle traversing a cluttered urban environment. The objective is to provide a good estimate of the position and velocity of the vehicle in gr...