EATR ENERGETICALLY AUTONOMOUS TACTICAL ROBOT

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<strong>AUTONOMOUS</strong> INTELLIGENT CONTROL: 4D/RCS ‣ At the lowest (Servo) level, the 4D/RCS closes actuator feedback control loops within milliseconds ‣ At successively higher levels, the 4D/RCS architecture responds to more complex situations with both reactive behaviors and real-time replanning Status Task Command Input SENSORY PROCESSING WORLD MODELING Tentative Plans BEHAVIOR GENERATION SIMULATOR PREDICTOR VALUE JUDGMENT Agent1 cost benefit Task Decomposition PLANNER Recognize Filter Compute Group Window KD Images Maps Entities Events States Attributes Expected Results Feedback PLAN EXECUTOR PLAN EXECUTOR PLAN EXECUTOR Subtask Command Output Subtask Command Output Status Status Status Subtask Command Output BG BG BG PLANNER PLANNER PLANNER Plan EX Plan EX Plan EX Plan EX Plan EX Plan EX Plan EX Plan EX Plan EX
<strong>AUTONOMOUS</strong> INTELLIGENT CONTROL: 4D/RCS ‣ For example, at the second (Primitive) level, the 4D/RCS reacts to inertial accelerations and potentially catastrophic movements within hundredths of a second ‣ At the third (Subsystem) level, the 4D/RCS reacts within tenths of a second to perceived objects, obstacles, and threats in the environment ‣ At the fourth (Vehicle) level, the 4D/RCS reacts quickly and appropriately to perceived situations in its immediate environment, such as aiming and firing weapons, taking cover, or maneuvering to optimize visibility to a target ‣ At the fifth (Section) level, the 4D/RCS collaborates with other vehicles to maintain tactical formation or to conduct coordinated actions ‣ At the sixth (System of Systems) level, which has not yet been implemented, the 4D/RCS serves as an overarching intelligent control and decision system for (all or part of) a manifold of distributed unmanned and manned platforms, unattended sensors and weapons, and control centers Battalion Battalion HQ 24 hr plans replan every 2 hr Company Artillary Armor Logistics 5 hr plans replan every 25 min Platoon IndirectFire DirectFire AntiAir 1 hr plans replan every 5 min Section UAV C2 Manned C2 UGS C2 10 min plans replan every 1 min Vehicle UAV UARV UGV Scout 1 min plans replan every 5 s Subsystem RSTA Communications Weapons Mobility 5 s plans replan every 500 ms Primitive Gaze Select Gaze Driver 500 ms plans replan every 50 ms Servo Pan Tilt Iris Focus Pan Tilt Speed Heading 50 ms plans output every 5 ms Sensors and Actuators
Page 1 and 2: BRIEF PROJECT OVERVIEW EATR: ENERGE
Page 3 and 4: EATR: RATIONALE AND UTILITY ‣ A r
Page 5 and 6: EATR: COMMERCIAL APPLICATIONS ‣ E
Page 7 and 8: EATR: TECHNICAL APPROACH ‣ Four m
Page 9 and 10: EXAMPLE EATR PLATFORM ‣ The auton
Page 11 and 12: AUTONOMOUS INTELLIGENT CONTROL: 4D/
Page 15: AUTONOMOUS INTELLIGENT CONTROL: 4D/
Page 23 and 24: HYBRID EXTERNAL COMBUSTION ENGINE
Page 25 and 26: HYBRID EXTERNAL COMBUSTION ENGINE
Page 27 and 28: EATR: EXAMPLE ENERGY BUDGET ‣ Exa
Page 29 and 30: EATR: COMMERCIALIZATION OPPORTUNITY

EATR ENERGETICALLY AUTONOMOUS TACTICAL ROBOT

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