Advanced Explosive Ordnance Disposal Robotic System ( AEODRS ) : A Common Architecture Revolution

256 INTRODUCTION The military services have successfully used ground robots in the fight against terror over the past decade. In addition, U.S. and international law enforcement agencies have experienced the benefit of these systems in conducting dangerous and life-threatening tasks. The use of ground robots is saving lives throughout the world. However, APL and the military have been concerned that the lack of interoperability between unmanned ground vehicle (UGV) systems imposes limitations on development and deployment, complicating the integration of advanced technologies and control schemes. The Advanced Explosive Ordnance Disposal Robotic System (AEODRS) is a Joint Service Explosive Ordnance Disposal (JSEOD) program executed through he Advanced Explosive Ordnance Disposal Robotic System (AEODRS) is a Navy-sponsored acquisition program developing a new generation of open, modular robotic systems. This article describes a common architecture for a family of explosive ordnance disposal robotic systems, including the rationale for and development of the architecture, as well as decomposition of the architecture into common physical, electrical, and logical interfaces. The article further describes the role of an open standard for the interchange of information within unmanned ground vehicle systems. The Joint Architecture for Unmanned Systems (JAUS) has enabled the development of the architecture’s standards-based interfaces, both at the extra-vehicle controller-interface level and for the interface and integration of vehicle payloads and subsystems. Finally, the article explores the contribution of the architecture’s common topology, protocols, services, and infrastructure to the development of common controllers, payloads, and subsystems. Additionally, the effects of the achieved commonality are discussed in terms of reduced field logistics footprint, increased mission flexibility, reduced deployment time for fielding new capabilities, and extended useful design life. Advanced Explosive Ordnance Disposal Robotic System (AEODRS): A Common Architecture Revolution