[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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296 T. Czapla and J. Wrona The front section contained explosives, middle section engines and propulsion system, rear one cable drum. First versions of the vehicle were equipped with electric motors, later were replaced (SdKfz. 303) with internal combustion engine. High manufacturing cost, low armor protection, high control-cable vulnerability and low top speed (11.5 km/h) caused that the vehicle was not used for destroying tanks as it was originally intended to (Skotnicki M.). That is why it is very important to determine in the beginning of the designing process the Concept of Operations (CONOPS) with the requirements that should fulfill the system. In The Soviet Army unmanned ground platforms were build basing on modified T-26 tanks. Radio controlled tanks were renamed to TT-26. Vehicles are shown in Fig.3. Tanks were equipped with lamp radio receiver and pneumatic actuators. Despite installing remotely controlled steering system, manned operation remained available for modified tanks. The main purpose of the vehicle was carrying chemical weapons system towards enemy positions without exposing own personnel for risk. There was also version carrying explosives as payload. Two battalions were equipped with TT-26 “Teletanks”, first one was destroyed during first months of war. Second one was engaged in battle of Moscow but remote control equipment was unmounted and tanks were manned operated (Широкорад, 2005). Described above “Teletank” TT-26 was an universal military platform equipped with modern technology that allowed to extend the application area by unmanned operation mode ability with preserving full functionality as a manned vehicle. The research on unmanned autonomous vehicles was started in late 60's of 20 century. As a part of artificial intelligence application for controlling the vehicles, a mobile robot SHAKEY fig. 4 was funded by Defense Advanced Research Projects Agency (DARPA) and developed at Stanford Research Institute. SHAKEY was equipped with a TV camera, ultrasonic range sensors and touch sensors connected by radio link with central computer performing navigation and exploration tasks. Fig. 4. SHAKEY (source: Hoggett R., 2005) SHAKEY was able to perform simple operations like route following or navigation and also advanced missions provided by user (Hoggett, 2005). The overview of the unmanned vehicles show their evolution from simple cable-controlled or radio-controlled machines to the robot with some level of autonomy. The variety of unmanned vehicles used in military application caused the need of classification for different categories.
Technology Development of Military Applications of Unmanned Ground Vehicles 297 Examples of different types Unmanned Ground Vehicles used to perform specific tasks in military operations include: UGVs used as a support of dismounted soldiers by performing tasks like: reconnaissance, surveillance, door breach, smoke generation, etc. These UGVs can be carried by soldiers themselves. Next type of UGV is dedicated for use as transporters for supplying distant posts or carrying equipment during troops movement or as armed reconnaissance vehicles that are able to fire their weapon via C4ISR network with the man in-the-loop. These vehicles are larger in size and could not be carried by soldiers. Third group can be described as unmanned ground combat vehicles that are able to use their weapon in autonomous mode (Munk, 2003). More detailed classification of Unmanned Ground Vehicles was proposed by U.S. Army Developmental Test Command (2009). There are three categories of UGVs based upon size (Fig. 5), mode of operation(Fig. 6), and weapon type (Fig. 7). Category Sub‐category Description Tethered Mode with direct, wired connection demanding line of sight (LOS) maintenance (except certain applications ‐ tunnel, pipe operations). Human operator controls 100% actions performed by the vehicle Remote Controlled Mode with human operator fully controlling the vehicle without gaining information from UGV's sensors thus LOS has to be maintained. Human operator controls 100% actions performed by the vehicle Mode of Operation Tele‐operated Mode with human operator fully controlling the vehicle with feedback provided by UGV's sensors (i.e. video, audio, laser). Human operator controls 100% actions performed by the vehicle. Does not demand LOS Autonomous Mode of control that does not demand human operator interaction during the mission. Operator can program the mission before an action Semi‐autonomous Mode with at least one autonomously controlled function. Level of autonomy could vary for different UGVs. Usually operator interaction is used to control weapon Manned Mode with direct human control with operator onboard Fig. 5. Unmanned Ground Vehicles classification based on mode of operation
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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4 A. Babiarz et al. 1 Introduction
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6 A. Babiarz et al. The description
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12 A. Babiarz et al. a) b) Fig. 7.
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14 A. Babiarz et al. • The camera
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18 A. Babiarz et al. a) b) Fig. 11.
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Recognition and Location of Objects
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116 D. Bereska et al. Presented in
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Omnidirectional Video Acquisition D
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Part III Design of Vision Based Con
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Vision System for Group of Mobile R
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184 D. Bereska et al. 4.1 Mechanica
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186 D. Bereska et al. 4.1.3 Open-Lo
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188 D. Bereska et al. Fig. 16. Comp
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Probabilistic Approach to Planning
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206 Practical Applications of Class
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Prototyping the Autonomous Flight A
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Feature Extraction and HMM-Based Cl
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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