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6 Sciences for Maneuver
Pages 65-77

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From page 65...
... They have a thorough understanding of related research and have built collaborations with others at ARL across campaigns and have connected with the right faculty and laboratories in academia through the Robotics Collaborative Technology Alliance (RCTA)
From page 66...
... The goal is to look at design factors proactively in simulation concurrently with technology development, rather than retroactively; the design of human–robot interaction during early system development is important in order to create a robot system that will be used effectively and as intended. This project is commendable in that it is conducting evaluations and experimentation concurrently based on the applied robotics for installation and base operations system development at the U.S.
From page 67...
... Human-Autonomy Sensor Fusion for Rapid Object Detection The project conducts research on models of fusion between computer vision and neurophysiological responses. Recognition systems do not integrate humans explicitly; this project looks at an alternative architecture in which humans are peers to share the information with autonomous systems.
From page 68...
... To meet the goals of the research theme, six research programs have been initiated: • Control focuses on the low-level processes and closely couples sensing and action (actuation) of individual elements of the vehicle; • Planning and guidance focus on the mid-level, vehicle-centric layer of the control architecture, with immediate path-planning objectives; • Abstract reasoning focuses on the cognitive element of the architecture, with a special emphasis on human–robot teaming occurring at this level of the architecture; • Teaming and coordination focus on the interaction of multiple homogeneous or heterogeneous entities to achieve a specified goal, including coordination and communication; • Behaviors focus on actions of a vehicle built from a hierarchy of elemental tasks and capabilities to achieve one or more specified goals; and • Learning and adaptation focus on employing key cognitive features of an intelligent vehicle to enable control of its actions and/or behavior to successfully achieve goals in dynamic and/or unrecognizable scenarios and environments.
From page 69...
... Behaviors: Scene Consistent Visual Saliency This research dealt with how to better define visual saliency in a dynamic environment. The project was first envisioned because ARL researchers were examining images from a moving robot and realized that present definitions of saliency did not give consistent metrics for saliency -- for any given feature––as the moving camera passed a feature and dynamically changed its field of view.
From page 70...
... The researchers need to identify how the work addresses an important need -- that is, why is it necessary to measure saliency consistently and how good does saliency consistency need to be for images to be useful for the Army mission? An additional opportunity could include integrating eyetracking devices to try to determine what a solider thinks is salient, inferring what the solider is trying to convey based on eye-gaze, and providing that information to the robot or informing the robot planning algorithms.
From page 71...
... Memory access time savings also seem intuitive, and they are dramatic. One PI indicated that no similar research was being done elsewhere, but this was belied by the numerous references cited in a recent journal paper of the PI, which had a sufficient scholarly section of related research.
From page 72...
... It has succeeded in establishing relationships with top university laboratories, has attracted some outstanding personnel, especially new Ph.D.'s, and is undertaking interesting and relevant work on a par with academic departments. The ARL perception group is well aware of the current trends in the research community through participation in 72
From page 73...
... , where soldiers use microrobots to explore; -- Robotics collaborative technology alliance (RCTA) , where soldiers use robot/human teams to penetrate the built environment; and -- Applied robotics for installations and base operations, where robots perform functions on bases, relieving the warfighters of these functions.
From page 74...
... The results indicate that the new method outperforms existing methods, but the theoretical basis has not yet been fully explored. Immersive Display of Robot Lidar Imagery ARL has its own design for a lidar that has excellent performance, generating 256 × 128 pixel depth images.
From page 75...
... Overall Perception Challenges and Opportunities Perception is a rapidly evolving area. The tool sets, the approaches, and the benchmarks on performance change yearly (sometimes monthly)
From page 76...
... Based on rigorous design, useful evaluation and analysis, appropriate metrics, thorough understanding of related research, workforce interaction at critical open conferences, and publishing VI investigations in top journals, VI is well positioned to maintain and improve the quality of its research products. Recently hired researchers within VI appear to be well qualified to conduct leading research and development in VI.
From page 77...
... The VI program is well positioned to maintain and improve the quality of its research products. To move to the next level, VI needs to undertake carefully chosen, audacious, grand challenges that go beyond the extant state of the art.


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