Subsumption Robotics
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Authors
DeBolt, Christopher K.
Freed, Craig
Nguyen, Tuan N.
Greiner, Helen
Pook, Polly K.
Whittinghill, George
Healey, Anthony
Subjects
Advisors
Date of Issue
1998
Date
1998
Publisher
Language
Abstract
Through the use of subsumption architectures, low cost, simple robots can be developed to undertake
the hazard of moving a submunition or scatterable mine to a disposal area for neutralization. A number
of these robots acting in unison can provide an order of magnitude increase in the ability of one
Explosive Ordnance Disposal (EOD) technician to clear an area. The scatterable submunitions are
small in size, measuring two to five inches in maximum dimension. A two-part technique is being
investigated to provide a solution to this problem. The detection of these munitions is the first step in
the process. This can be achieved by modifying existing robotic vehicles with a controller, sensor, and
detection processing capability. The needs for this capability are being addressed outside of this task.
The second step is to provide a small, low cost option for pick-up-carry-away (PUCA) operations for
submunition clearance. Figure 1 shows prototype vehicles for the two-part technique. The long-term
goal is to extend understanding of artificial intelligence principles in teams of cooperating robots, and
applying the results to this real world problem.
Type
Article
Description
Series/Report No
Department
Organization
Naval Explosive Ordnance Disposal Technology Division (NAVEODTECHDIV)
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
7 p.
Citation
DeBolt, Christopher K., et al. Subsumption Robotics. NAVAL EXPLOSIVE ORDNANCE DISPOSAL TECHNOLOGY DIV INDIAN HEAD MD, 1998.
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.