Abstract: A computer-implemented method when executed by data processing hardware causes the data processing hardware to perform operations. The operations include receiving a navigation route for a mobile robot. The navigation route includes a sequence of waypoints connected by edges. Each edge corresponds to movement instructions that navigate the mobile robot between waypoints of the sequence of waypoints. While the mobile robot is traveling along the navigation route, the operations include determining that the mobile robot is unable to execute a respective movement instruction for a respective edge of the navigation route due to an obstacle obstructing the respective edge, generating an alternative path to navigate the mobile robot to an untraveled waypoint in the sequence of waypoints, and resuming travel by the mobile robot along the navigation route. The alternative path avoids the obstacle.

Abstract: A system for controlling one or more remote vehicles. The system includes an operator control unit with a touch-screen user interface comprising an initial screen including a map view window that facilitates operator entry of mission commands to one or more remote vehicles, a remote vehicle selection/detection window allowing the operator to see which remote vehicles have been detected by the operator control unit and select among those vehicles to display a detailed window for the selected remote vehicle, the detailed window including status information regarding the remote vehicle, and a button or icon for launching a control application including the initial screen and the remote vehicle selection/detection window. The map view window displays a map of a remote vehicle environment.

Abstract: A threshold learning control system for learning a controller of a robot. The system includes a threshold learning module, a regime classifier, and an exploratory controller, each receiving sensory inputs from a sensor system of the robot. The regime classifier determines a control regime based on the received sensor inputs and communicates the control regime to the threshold learning module. The exploratory controller also receives control parameters from the threshold learning module. A control arbiter receives commands from the exploratory controller and limits from the threshold learning module. The control arbiter issues modified commands based on the received limits to the robot controller.

Abstract: A system for controlling more than one remote vehicle. The system comprises an operator control unit allowing an operator to receive information from the remote vehicles and send commands to the remote vehicles via a touch-screen interface, the remote vehicles being capable of performing autonomous behaviors using information received from at least one sensor on each remote vehicle. The operator control unit sends commands to the remote vehicles to perform autonomous behaviors in a cooperative effort, such that high-level mission commands entered by the operator cause the remote vehicles to perform more than one autonomous behavior sequentially or concurrently. The system may perform a method for generating obstacle detection information from image data received from one of a time-of-flight sensor and a stereo vision camera sensor.

Abstract: A system for providing enhanced operator control of a remote vehicle driving at increased speeds comprises: a head-mounted display configured to be worn by the operator and track a position of the operator's head; a head-aimed camera mounted to the remote vehicle via a pan/tilt mechanism and configured to pan and tilt in accordance with the position of the operator's head, the head-aimed camera transmitting video to be displayed to the operator via the head-mounted display; and a computer running a behavior engine, the computer receiving input from the operator and one or more sensors, and being configured to utilize the behavior engine, operator input, sensor input, and one or more autonomous and/or semi-autonomous behaviors to assist the operator in driving the remote vehicle. The remote vehicle includes releasably mounted wheels and high-friction tracks.

Abstract: A method for controlling unmanned vehicles to maintain line-of-sight between a predetermined target and at least one unmanned vehicle. The method comprises: providing an unmanned air vehicle including sensors configured to locate a target and an unmanned ground vehicle including sensors configured to locate and track the target; communicating and exchanging data to and among the unmanned ground vehicles; controlling the unmanned air vehicle and the unmanned ground vehicle to maintain line-of-sight between a predetermined target and at least one of the unmanned air vehicles; geolocating the predetermined target with the unmanned air vehicle using information regarding a position of the unmanned air vehicle and information regarding a position of the target relative to the unmanned air vehicle; and transmitting information defining the geolocation of the predetermined target to the unmanned ground vehicle so that the unmanned ground vehicle can perform path planning based on the geolocation.

Abstract: A collaborative engagement system comprises: at least two unmanned vehicles comprising an unmanned air vehicle including sensors configured to locate a target and an unmanned ground vehicle including sensors configured to locate and track a target; and a controller facilitating control of, and communication and exchange of data to and among the unmanned vehicles, the controller facilitating data exchange via a common protocol. The collaborative engagement system controls the unmanned vehicles to maintain line-of-sight between a predetermined target and at least one of the unmanned vehicles.

Abstract: The present teachings provide a system and a method to shift a center of gravity of an unmanned ground vehicle, the system configured to determine, by a movement sensor, a present turn angle of the vehicle, determine, by a processor, a desired turn angle of the vehicle according to a turn command received from a remote control device, determine, by the processor, a difference between the present turn angle and the desired turn angle, and control, by the processor, a weight shifting system of the vehicle to relocate a weight movably attached to the weight shifting system based on the difference between the present turn angle and the desired turn angle.

Abstract: A system for providing enhanced operator control of a remote vehicle driving at increased speeds comprises: a head-mounted display configured to be worn by the operator and track a position of the operator's head; a head-aimed camera mounted to the remote vehicle via a pan/tilt mechanism and configured to pan and tilt in accordance with the position of the operator's head, the head-aimed camera transmitting video to be displayed to the operator via the head-mounted display; and a computer running a behavior engine, the computer receiving input from the operator and one or more sensors, and being configured to utilize the behavior engine, operator input, sensor input, and one or more autonomous and/or semi-autonomous behaviors to assist the operator in driving the remote vehicle. The remote vehicle includes releasably mounted wheels and high-friction tracks.

Abstract: A system for controlling a remote vehicle comprises: a LIDAR sensor, a stereo vision camera, and a UWB radar sensor; a sensory processor configured to process data from one or more of the LIDAR sensor, the stereo vision camera, and the UWB radar sensor; and a remote vehicle primary processor configured to receive data from the sensory processor and utilize the data to perform an obstacle avoidance behavior.

Abstract: A collaborative engagement system comprises: at least two unmanned vehicles comprising an unmanned air vehicle including sensors configured to locate a target and an unmanned ground vehicle including sensors configured to locate and track a target; and a controller facilitating control of, and communication and exchange of data to and among the unmanned vehicles, the controller facilitating data exchange via a common protocol. The collaborative engagement system controls the unmanned vehicles to maintain line-of-sight between a predetermined target and at least one of the unmanned vehicles.

Abstract: A method of in-bath smelting reduction comprises the step of selectively supplying powder materials into a gas upflow region or a gas downflow region within a furnace during the time that oxygen-containing gas is concurrently being blown into the furnace from a top lance. Also disclosed is an in-bath smelting reduction furnace for carrying out the method.

Abstract: A method of operating an in-bath smelting reduction furnace comprises the step of forming a slag zone in an in-bath smelting reduction furnace supplied with oxygen through a top lance and with agitation gas by bottom bubbling through tuyeres below the metal bath surface, and the step of controlling the carbon material supply rate, the oxygen supply rate and the ore supply rate so as to maintain the apparent density of the slag within a prescribed range.