1. Sensor Pack Binary Tone Generator Rabbit Processor IMUGPS Receiver Xbee Radio Modem Data Sink GPS Satellites Handset for Binary Tone Generator Operator: Records the tone changes manually. Trainer: Issues the tone commands to guide the K-9 through his handset. Radio: Transmits the parsed sensor information over the wireless link. K-9: Responds to the tone to follow along the intended path. Handset: transmits the current command wirelessly to the tone generator. Rabbit: Collects and parses the sensor data from the various sensors, then sends to the Xbee modem. GPS: Provides latitude, longitude, velocity, and heading. IMU: Provides acceleration and rate of turn. Phase I (Legacy Training)

2. Sensor Pack Command Module Rabbit Processor XSensGPS Receiver Xbee Radio Modem Data Sink GPS Satellites Handset for Command Module Operator: Starts/Stops recording data for various experimental trials. Trainer: Issues the tone commands to guide the K-9 through his handset. Radio: Transmits the parsed sensor information and the currently active commands over the wireless link. K-9: Responds to the tone to follow along the intended path. Handset: transmits the current command wirelessly to the tone generator. Rabbit: Collects and parses the sensor data from the various sensors and command module, then sends to the Xbee modem. GPS: Provides latitude, longitude, velocity, and heading. XSens: Provides acceleration, rate of turn, and mag. data. Phase II (Training) Command Module: Issues tone commands to the K-9 and outputs those commands to the Rabbit.

3. Sensor Pack Command Module Rabbit Processor XSensGPS Receiver Xbee Radio Modem Data Sink GPS Satellites Operator: Starts/Stops recording data. Radio: Transmits the parsed sensor information and the currently active commands over the wireless link. K-9: Responds to the tone to follow along the intended path. Rabbit: Collects and parses the sensor data from the various sensors, filters that data, uses the model to issue a new command to the command module, then sends to the Xbee modem. GPS: Provides latitude, longitude, velocity, and heading. XSens: Provides acceleration, rate of turn, and mag. data. Phase III (Autonomous K-9) Command Module: Receives commands from the rabbit and issues them to the K-9. Filter: Algorithm to aggregate GPS/IMU data for accuracy. Model: Algorithm to interpret filtered sensor data an d issue new commands