Publication

Autonomous Ground Systems (AGS)
2018

DEMONSTRATION OF A COMMON WORLD MODEL

by Mark Hinton; Gautam Vallabha; Chris Cooke; Christine Piatko; Michael Zeher; Peter Gayler; Geoffrey Osier

Abstract

A crucial part of facilitating the cooperation of multi-robot and human-robot teams is a Common World Model – a shared knowledge base with both physical information (e.g., ground map) and semantic information (e.g, locations of threats and goals) – that can be used to provide high-level guidance to heterogeneous robot teams. Past work performed by Johns Hopkins University Applied Physics Laboratory (JHU/APL) has shown that the Advanced Explosive Ordnance Disposal Robotic System (AEODRS) architecture – a Modular Open Systems Approach (MOSA) architecture leveraging the JAUS (Joint Architecture for Unmanned Systems) standard for definition of its logical interfaces – can be effectively used to develop and integrate the subsystems of a teleoperated ground vehicle for use in a complex environment. This demonstration tackles the next challenge, which is to extend the AEODRS architecture to facilitate multi-robot and human-robot teams.