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  • Autonomous Robotics Development in Robot Operating System (ROS) 2 Humble

    Abstract: This report presents a novel Robot Operating System (ROS) 2–based simulation framework designed to facilitate the development and testing of an autonomous navigation stack. Elements of the navigation stack, including lidar odometry, simultaneous localization and mapping (SLAM), and frontier exploration, are discussed in detail. The key features of the navigation stack include real-time performance and scalable architecture. The simulation results were applied to a physical robot. As a result, the physical robot was able to autonomously map the interior of a building and to generate 2D occupancy and 3D point clouds of the environment.

  • Robot Operating System Innovations in Autonomous Navigation

    Abstract: This report presents the results of simulations conducted in preparation for the 2024 Maneuver Support and Protection Integration Experiments (MSPIX) demonstration. The study aimed to develop and test a system for autonomous navigation in complex environments using advanced algorithms to enable the robot to avoid obstacles and navigate safely and efficiently. The report describes the methodology used to develop and test the autonomous navigation system, including the use of simulation, to evaluate its performance. The results of the simulation tests are presented to highlight the effectiveness of the navigation solution.

  • FIRST: A proven pipeline for future ERDC development

    More than two decades ago, a robotics team was founded for the students at Warren Central High School. ERDC has been involved since the year 2000 by hosting the team and promoting hands-on learning for local students. Today, with a mission to provide educational experiences for more young people, Team 456 Siege Robotics is a community FIRST Robotics Competition (FRC) team that is made up of 20 students from across central Mississippi.

  • Exploring Lidar Odometry Within the Robot Operating System

    Abstract: Here, we explore various lidar odometry approaches (with both 3 and 6 degrees of freedom) in simulation. We modified a virtual model of a TurtleBot3 robot to work with the various odometry approaches and evaluated each method within a gazebo simulation. The gazebo model was configured to generate an absolute ground truth for comparison to the odometry results. We used the evo package to compare the ground truth with the various lidar odometry values. The results for KISS-ICP and laser scan matcher (LSM), including two simultaneous localization and map-ping (SLAM) approaches, Fast Lidar-Inertial Odometry (FAST-LIO), and Direct Lidar Odometry (DLO), are provided and discussed. We also tested one of the approaches on our physical robot.

  • Terrestrial Vision-Based Localization Using Synthetic Horizons

    Abstract: Vision-based localization could improve navigation and routing solutions in GPS-denied environments. In this study, data from a Carnegie Robotics MultiSense S7 stereo camera were matched to a synthetic horizon derived from foundation sources using novel two-dimensional correlation techniques. Testing was conducted at multiple observation locations over known ground control points (GCPs) at the US Army Engineer Research and Development Center (ERDC), Geospatial Research Laboratory (GRL), Corbin Research Facility. Testing was conducted at several different observational azimuths for these locations to account for the many possible viewing angles in a scene. Multiple observational azimuths were also tested together to see how the amount of viewing angles affected results. These initial tests were conducted to help future efforts testing the S7 camera under more realistic conditions, in different environments, and while expanding the collection and processing methodologies to additional sensor systems.

  • ERDC takes award-winning robotics teams to the FIRST World Championships

    VICKSBURG, Miss. – Over two decades ago, the U.S. Army Engineering Research and Development Center (ERDC) created a robotics team that was formed with a mission to provide educational experiences for young people by promoting hands-on learning in the community. Today, Team 456 Siege Robotics is a FIRST Robotics Competition (FRC) team that is made up of about eighteen students from across central Mississippi.

  • ERDC-Vicksburg laboratories celebrate 25th anniversary with Open House

    Laboratories from across the U.S. Army Engineer Research and Development Center (ERDC) showcased their expertise, experiments and research as part of a celebration honoring the agency's 25th anniversary.

  • Robotics for Engineering Operations team participate in Project Convergence 2022

    The U.S. Army Engineer Research and Development Center (ERDC) Construction Engineer Research Laboratory (CERL) Robotics for Engineering Operations (REO) team recently participated in Project Convergence 2022 (PC22).

  • ERDC researchers combine robotics, imagery technology to solve problems

    The U.S. Army Engineer Research and Development Center’s (ERDC) Construction Engineering Research Laboratory’s Robotics for Engineer Operations (REO) team is combining efforts with the Information Technology Laboratory’s Robotic Assessment of Dams (DamBot) team to tackle challenges posed by both combat engineer operations abroad and infrastructure at home.

  • Dambot takes the lead on dangerous assessments

    A U.S. Army Engineer Research and Development Center team is designing robotic systems to keep humans out of harm’s way. Sounding more like the plot of an action movie than a research and development project, a robotic system known as Dambot takes the human element out of a dangerous but necessary U.S. Army Corps of Engineers (USACE) maintenance task. The cutting-edge technology has already been successfully tested and stands poised to change the course of closure gate assessments, while also safeguarding USACE team members.