1. ROVER - FAME Toward the development of a flexible testbed for research in the area of... F lexible A utonomous M achines operating in uncertain E nvironments Christopher Hornberg Andrew Pitts

2. Outline Motivation Contributions Overview of Systems Breakdown of Systems Summary & Future Directions

3. Motivation Development of a Flexible Testbed for Future Research in the area of Flexible Autonomous Machines operating in an uncertain Environment (FAME)

4. Contributions Remote Controllable via joystick Real Time Video System Wireless Data Network On Board CPU Command and Control CPU Actuator and Sensing Interfaces Power Distribution System

5. ROVER

6. Overview of Systems

7. Wireless Vision System

8. Wireless Data Network

9. On Board Computer Hardware Pentium 166 48 MB of RAM 1.2 GB Hard Drive Network Interface Card Data Acquisition Card CD-ROM Floppy Drive Sound Card

10. On Board Computer Software Microsoft Windows NT 4.0 Microsoft Netmeeting Microsoft Visual C++ Software Development Environment Local Controller of ROVER Remote Controller of ROVER Server

11. Command and Control Computer Hardware Pentium Pro 200 Processor 48 MB of RAM 4.8 GB Hard Drive CD-ROM Sound Card 3.5” Floppy Drive Network Interface Card (NIC) Video Capture Card

12. Command and Control CPU Software Microsoft Windows NT 4.0 Microsoft Netmeeting Microsoft Visual C++ Software Development Environment Remote Controller of ROVER

13. Power Distribution System

14. Actuation and Sensing Interfaces

15. Mechanical Systems

17. Summary Testbed is a mobile robotic vehicle (ROVER) High Performance Data and Vision Systems On Board CPU Command and Control CPU networked to a suite of Pentium Class Windows NT workstations

18. Directions for Future Research Making ROVER Autonomous Building other FAME Testbeds –small robotic vehicle –large tank-like robotic vehicle –blimp Coordinated Navigation of these vehicles around the ASU campus

19. Acknowledgements Fellow Collaborators: James DeFalco, Elizabeth Olivanti, Bryan Preble Advisor: Professor Armando A. Rodriguez Thanks extended to Professor Jami Shah and Professor Joseph Davidson