Publication

Autonomous Ground Systems (AGS)
2019

EVOLVING THE ROBOTIC TECHNOLOGY KERNEL TO EXPAND FUTURE FORCE AUTONOMOUS GROUND VEHICLE CAPABILITIES

by MAJ Joseph Cymerman; MAJ Sang Yim; MAJ (R) Dominic Larkin2; 2LT Wyatt Gengler; 2LT Samuel Norman; 2LT Zachary Maxwell; 2LT Nicholas Gasparri; 2LT Mary Pollin; 2LT Clement Calderon; 2LT Jeremy Angle; 2LT Jaylen Collier3

Abstract

This paper presents the conceptual design, development, and implementation of the Robotic Technology Kernel (RTK) in a Polaris GEM e2 by the United States Military Academy's autonomy research team. RTK is the autonomous software suite of the U.S. Army Combat Capabilities Development Command Ground Vehicles Systems Center and to this point has primarily been used within off-road environments. The research team's primary objectives were to verify RTK's platform-agnostic characteristic by implementing the control software on a small, low-speed electric vehicle and augmenting the software to provide the additional capability of operating within an established infrastructure rule set.