Subsumption Robotics

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.