Showing papers by "William Whittaker published in 2004"

Autonomous exploration and mapping of abandoned mines

Abstract: This article discusses the software architecture of an autonomous robotic system designed to explore and map abandoned mines. A new set of software tools is presented, enabling robots to acquire maps of unprecedented size and accuracy. On 30 May 2003, the robot "Groundhog" successfully explored and mapped a main corridor of the abandoned Mathies mine near Courtney, Pennsylvania. This article also discusses some of the challenges that arise in the subterranean environments and some the difficulties of building truly autonomous robots.

A campaign in autonomous mine mapping

Abstract: Unknown, unexplored and abandoned subterranean voids threaten mining operations, surface developments and the environment. Hazards within these spaces preclude human access to create and verify extensive maps or to characterize and analyze the environment. To that end, we have developed a mobile robot capable of autonomously exploring and mapping abandoned mines. To operate without communications in a harsh environment with little chance of rescue, this robot must have a robust electro-mechanical platform, a reliable software system, and a dependable means of failure recovery. Presented are the mechanisms, algorithms, and analysis tools that enable autonomous mine exploration and mapping along with extensive experimental results from eight successful deployments into the abandoned Mathies coal mine near Pittsburgh, PA.

Methods, devices and systems for high-speed autonomous vehicle and high-speed autonomous vehicle

Abstract: The invention comprises an autonomous off-road vehicle capable of traveling at high speeds. Preferred embodiments of the invention comprise a system for sensory instrument stabilization comprises three axis assemblies movable about three orthogonal axes. The invention also comprises novel methods for generating a high accuracy route for a robotically controlled vehicle. Other aspects of the invention include drive time, perception-based path adjustments to steer a robotic vehicle within an intended corridor. Another embodiment of the invention comprises the consideration of vehicular dynamics in generating a high accuracy route and in steering a robotic vehicle within an intended corridor.

Software Architecture of an Autonomous Robotic System

Abstract: bandoned mines pose significant threats to society,yet a large fraction of them lack accurate maps.This article discusses the software architecture ofan autonomous robotic system designed toexplore and map abandoned mines. A new setof software tools is presented, enabling robots to acquire mapsof unprecedented size and accuracy. On 30 May 2003, ourrobot “Groundhog” successfully explored and mapped a maincorridor of the abandoned Mathies mine near Courtney,Pennsylvania. This article also discusses some of the challengesthat arise in the subterranean environments and some the dif-ficulties of building truly autonomous robots.In recent years, the quest to find and explore new, unex-plored terrain has led to the deployment of more and moresophisticated robotic systems, designed to traverse increasinglyremote locations. Robotic systems have successfully exploredvolcanoes [5], searched meteorites in Antarctica [1], [44], tra-versed deserts [3], explored and mapped the sea bed [12], andeven explored other planets [26]. This article presents a robotsystem designed to explore spaces much closer to us: aban-doned underground mines.According to a recent survey [6], “tens of thousands, per-haps even hundreds of thousands, of abandoned mines existtoday in the United States. Not even the U.S. Bureau ofMines knows the exact number, because federal recording ofmining claims was not required until 1976.” Shockingly, weare unaware of the location of many mines; despite the factthat most mines were built just a few generations ago! A

High performance robotic traverse of desert terrain.

Abstract: This report presents tentative innovations to enable unmanned vehicle guidance for a class of off-road traverse at sustained speeds greater than 30 miles per hour. Analyses and field trials suggest that even greater navigation speeds might be achieved. The performance calls for innovation in mapping, perception, planning and inertial-referenced stabilization of components, hosted aboard capable locomotion. The innovations are motivated by the challenge of autonomous ground vehicle traverse of 250 miles of desert terrain in less than 10 hours, averaging 30 miles per hour. GPS coverage is assumed to be available with localized blackouts. Terrain and vegetation are assumed to be akin to that of the Mojave Desert. This terrain is interlaced with networks of unimproved roads and trails, which are a key to achieving the high performance mapping, planning and navigation that is presented here.