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Title: Cooperative sentry vehicles and differential GPS leapfrog

Abstract

As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories Intelligent Systems and Robotics Center is developing and testing the feasibility of using a cooperative team of robotic sentry vehicles to guard a perimeter, perform a surround task, and travel extended distances. This paper describes the authors most recent activities. In particular, this paper highlights the development of a Differential Global Positioning System (DGPS) leapfrog capability that allows two or more vehicles to alternate sending DGPS corrections. Using this leapfrog technique, this paper shows that a group of autonomous vehicles can travel 22.68 kilometers with a root mean square positioning error of only 5 meters.

Authors:
; ;
Publication Date:
Research Org.:
Sandia National Labs., Albuquerque, NM (US); Sandia National Labs., Livermore, CA (US)
Sponsoring Org.:
US Department of Energy (US)
OSTI Identifier:
756424
Report Number(s):
SAND2000-1439C
TRN: AH200021%%211
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Conference
Resource Relation:
Conference: 5th International Symposium on Distributed Autonomous Robotic Systems, Knoxville, TN (US), 10/04/2000--10/06/2000; Other Information: PBD: 7 Jun 2000
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; ROBOTS; VEHICLES; MILITARY FACILITIES; NAVIGATION; NAVIGATIONAL INSTRUMENTS; MOBILE ROBOTS; COOPERATIVE CONTROL; DISTRIBUTED AUTONOMOUS SYSTEMS

Citation Formats

FEDDEMA,JOHN T., LEWIS,CHRISTOPHER L., and LAFARGE,ROBERT A. Cooperative sentry vehicles and differential GPS leapfrog. United States: N. p., 2000. Web.
FEDDEMA,JOHN T., LEWIS,CHRISTOPHER L., & LAFARGE,ROBERT A. Cooperative sentry vehicles and differential GPS leapfrog. United States.
FEDDEMA,JOHN T., LEWIS,CHRISTOPHER L., and LAFARGE,ROBERT A. Wed . "Cooperative sentry vehicles and differential GPS leapfrog". United States. https://www.osti.gov/servlets/purl/756424.
@article{osti_756424,
title = {Cooperative sentry vehicles and differential GPS leapfrog},
author = {FEDDEMA,JOHN T. and LEWIS,CHRISTOPHER L. and LAFARGE,ROBERT A.},
abstractNote = {As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories Intelligent Systems and Robotics Center is developing and testing the feasibility of using a cooperative team of robotic sentry vehicles to guard a perimeter, perform a surround task, and travel extended distances. This paper describes the authors most recent activities. In particular, this paper highlights the development of a Differential Global Positioning System (DGPS) leapfrog capability that allows two or more vehicles to alternate sending DGPS corrections. Using this leapfrog technique, this paper shows that a group of autonomous vehicles can travel 22.68 kilometers with a root mean square positioning error of only 5 meters.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2000},
month = {6}
}

Conference:
Other availability
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