Autonomous mobility for areas with large numbers of pedestrians

Autonomy for small robots is required by the military as end-users demand more uses and versatility for small robots. Unmanned ground vehicles have already proven their usefulness in IED detection and inspection; explosive ordnance disposal (EOD); reconnaissance; communications; handling hazardous materials; security; defense; and rescue. They are now being acquired in ever increasing numbers. Pure tele-operation, the method typically used to operate small robots, is a burden for the operator and does not meet demands for speed, robustness and awareness of surroundings. In addition, new types of platforms are being developed; ones that have a mission to travel close to humans, such as the LS3 (legged squadron based on Big Dog design) and the BEAR (battlefield extraction robot) as stated in the FY2009--2034 OSD Unmanned Systems Integrated Roadmap. Missions are being envisioned where robots will be required to travel alongside soldiers (LS3) as companions, leaders, wing-men or followers. Additional capabilities can be easily envisioned, such as the capability of the robot to track a person, break off from their "pack" and then follow a particular person-of interest. When robots are used as companions to humans, they will require greater autonomy levels and flexible path planning, detection and prediction capabilities. As of now, robots cannot operate in crowds because the software for path planning and obstacle avoidance is not sophisticated enough to work reliably at the speeds required (e.g. the speed of a person walking). The system described in this article will provide functionality to these platforms so that missions among humans can be accomplished safely and effectively.