Goals for Today

1. Goals for Today • Review status of effort as of November 2009 • Continue discussion ofbusiness case analysis • Continue discussion ofsecurity analysis

2. Agenda • Arrival & Introductions 1015-1045 Prof. Seth Teller: Project Overview 1045-1130 Prof. Missy Cummings: Multiple Robotic Forklift Operations 1130-1200 Dan Stock: BCA Approach 1200-1230 Break for lunch Agile Robotics video 1230-1300 BCA Discussion 1300-1330 Bob Jackson / Ken Wisneski: Overview of Security Analysis 1330-1400 Review Action Items / Q&A

3. Paul Pepin Emilio Frazzoli Jon How USA LIA Rob Truax Lenny Paritsky Lenny Paritsky Mitch Leammukda Mitch Leammukda Andrew Correa Howard Shrobe CASCOM Matt Antone Emma Brunskill DDRE Jeong hwan Jeon Seth Teller Seth Teller ARL Nira Manokharan Tara Sainath Albert Huang Alex Gruenstein Matthew Walter Matthew Walter Edmund Williams Randy Davis Jim Glass Ed Corbett Missy Cummings Geoff Carrigan Mofe Uku Steve Proulx Brandon Luders Mike Boulet Ryne Barry Agile Robotics Team • Platform • buildup • Safety • & intent • Situational • awareness • Planning • & control • Supervisor • interface • Program • support Troy Jones John Yates Janina Plinsky Whole-SSA simulation Bryt Bradley Russ Tedrake Birsen Donmez Luke Fletcher MAJ Brooks SSG Trebes Jackie Tappan Stephanie Seneff Nicholas Roy Nicholas Roy Daniela Rus Lee Hetherington Scott Cyphers John Leonard

4. Project Summary • Develop autonomous forklift for military logistics • Address CASCOM & LIA requirements / needs analyses • Build upon foundation of DARPA Urban Challenge • Safe robotic car with real-time perception, planning, control • Avoid DGC’s brittle aspects (prior map, precision GPS) • Add novel interface and mobile manipulation capabilities • Demonstrate prototype at end of each year of effort

5. Support CASCOM Requirements • From CASCOM WFO document (Oct 2008): • Distribution in non-contiguous operations must be reliable and effective in accordance with the needs of the warfighting units while providingadequate protection to crews … from small arms,IEDs, RPGs, and other threats [including workplace injuries]. • Improve RAM [Reliability, Access, Maintainability] by 25-50% on distribution platforms. • Need better means to manage and conduct the distribution of supplies in a secure manner on non-contiguous battlespaces • Need improved intelligent anticipatory tools and capabilities to track, redirect, and manage supplies in the distribution chain. • Anticipatory sustainment decision support tools … will increase the velocity of Commanders’ decision support cycle. • Bottom line - robotics material handling capability must: • Protect soldiers, reduce logistics footprint, increaseefficiency, and do all of the above cost-effectively

6. High-Level Strategy • Understand military users and their logistics needs • Safe, predictable pallet handling in standard outdoor SSA • Start with American-made COTS forklift • Smallest (3-ton) model suitable for outdoor packed earth • Convert chassis, mast to drive-by-wire operation • Add servomotors, solenoids under computer control • Develop interface for natural direction of forklift • Voice & gesture; camera for bot’s-eye view to indicate objects • Add sensing, algorithms for situational awareness • Lidars for terrain, vehicles, pedestrians, & pallets; microphones • Characterize dynamics, add algorithms for actuation • Plan trajectories to approach, engage, lift, transport, place pallet • Control actuators to achieve desired motion of forklift, mast, load • Handle both predicted and unexpected behaviors of world entities

7. 2 1 3 4 5 Forklift Ft. Belvoir Demonstration (June 2009) Issue Receiving 1. Delivery vehicle (flatbed truck) arrives at reception area with two pallets 2. Supervisor summons autonomous forklift to meet arriving truck at Receiving area 3. Forklift unloads one pallet, transports it to specified outdoor bulk yard ASL 4. Forklift fetches, loads second pallet onto supervisor-indicated truck in Issue area 5. Customer truck departs pickup zone Bulk yard Supervisor ASLs

8. Goals of Funded Follow-on Effort • Fine-grain (sub-pallet) manipulation • Robot arms, pallet break-down, box manipulation • Integration with RFID,NSN, parts catalogs • Higher-level reasoning • E.g. moving blocking pallets aside to achieve goal • With supervisor direction, or fully autonomously • Higher-level direction (e.g., “put those pallets onto…”) Primaryfocus areas • Passive (video) sensing • Hand signals • Monocular or stereo • More CPU resources • Cheaper, less emission • Many forklifts,few supervisors • Human dispatcher,whole-SSA interface • Multi-task optimization Year 1Capability • Adverse environments • Mud, rain, snow, dust, sand-storms; at night • GPS-denied conditions (e.g., landmark-based navigation) • Whole-SSA transfer • Roll up onto many trucks • Roll out SSA as specified

9. Developments since June 2009 (1) • Platform improvements • Alternator power • Brake actuation • Roof cabinet wiring • Ordered two robot arms • Expected Nov. 2009

10. Developments since June 2009 (2) • Remote demonstration at AUSA 2009 • Forklift supervisor in Washington, DC • Forklift in Cambridge, MA (~440 miles away) Video

11. Developments since June 2009 (3) • Clarified concrete goals for summer 2010 • Team participated in design sessions for: • Mechanical design of base, torso, arms, grippers • High-level commands • Sub-pallet manipulation