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U.S. ARMY TANK AUTOMOTIVE RESEARCH, DEVELOPMENT AND ENGINEERING CENTER

Army’s S&T Investment in

Ground Vehicle Robotics
10 Apr 2018
Mr. Kevin Mills
Associate Director
TARDEC Ground Vehicle Robotics
**Disclaimer: Reference herein to any specific commercial company, product, process, or service by trade name, trademark, manufacturer, or otherwise, does not necessarily constitute or imply its endorsement,
recommendation, or favoring by the United States Government or the Department of the Army (DoA). The opinions of the authors expressed herein do not necessarily state or reflect those of the United States Government or
the DoA, and shall not be used for advertising or product endorsement purposes.**

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Key Programs Building a Foundation for MUMT

Logistic Resupply
Expedient Leader Follower
Autonomous Ground Resupply
Rapidly delivery and issue 70
leader follower enabled PLSs
PLS
FOB Comms
Satellite Develop and demonstrate to Soldiers for a one year
an improved and optimized Operational Technical
COP distribution system that Demonstration (OTD)
integrates new & emerging starting 4QFY19.
UAS
technologies across the full
Unmanned Aerial Supply
COP Drop-Off
Autonomous UGV Security
spectrum of operational and
tactical supply movement
Unmanned Aerial Supply
operations.
Distant Drop-Off

Robotic Combat Vehicles Future Manned / Unmanned Teaming Formations

Combat Vehicle Robotics
Develop/integrate technologies that
enable scalable integration of multi-
domain robotic and autonomous
system capabilities teamed within
Army formations supporting all
combat warfighting functions.

Small Robotics for Urban / Subterranean

Development of
capabilities to support
urban and underground
operations such as
Built on Open Autonomy unmanned complex tunnel
Architecture (AGVRA) investigation, CBRNE missions
and reconnaissance.

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Key Programs Building a Foundation for MUMT

Built on Open Autonomy

Architecture (AGVRA)

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Fielding Unmanned Systems will Challenge Existing Acquisition Paradigms

Government managed Robotics Architecture enables incremental software capability upgrades

• Military library of autonomous behaviors in
open, non-proprietary, modular format (ROS-M)

Industry
• Interface definition enables integration of
payloads across S&T enterprise / Industry
• Autonomous behaviors are not platform
specific enabling significant code reuse.

TARDEC’s autonomy investments focus on improving unmanned ground maneuver and integrating mission payloads
on while continuously engaging the user in operational experiments / assessments See FY17 NDAA –
Better Buying Power Focus Areas: Section 805 on MOSA
 Achieve Affordable Programs Eliminate Unproductive Processes and Bureaucracy
Software code reuse from previous programs, increased capability Promote Effective Competition
w/o vendor lock Competition ensures module level upgrades incorporate best of
 Control Costs Throughout the Product Lifecycle breed behaviors throughout the lifecycle
Architecture enables reduced safety certification timeline reduced Improve Tradecraft in Acquisition of Services
w/ M&S approach, mitigates obsolescence in rapidly evolving field
 Incentivize Productivity & Innovation in Improve the Professionalism of the Total Acquisition
Industry/Academia/Gov’t Workforce
Government managed software architecture enables industry to Industry Partners for AGVRA Development
innovate around different RAS behaviors inviting broader industry
participation.

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Open Modular Ground Vehicle Autonomy

Autonomous Ground Vehicle Reference Architecture 25 APR Rollout
(AGVRA) - Set of guidelines to enable the robotics Autonomy Software Framework (ROS-M)
community to fulfill the Army’s Robotic and Autonomous ROS 2.0 or ROS SE is an open source software framework for robotic development
System (RAS) commonality objectives by establishing an that provides the following features to allow for modular software development:
affordable means to deliver advanced capability to the
Warfighter by utilizing architectural best practices and
standards.

Interoperability Profile (IOP) defines software

massaging & hardware interfaces between major
subsystems of unmanned ground systems utilizing
existing standards

GVR Modular Software Approach (GMSA)

Success of this approach relies on strong government and industry collaboration
developing interface standards at the appropriate level between applications.

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Key Programs Building a Foundation for MUMT

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Leader Follower Directed Requirement

On 10 FEB 17 at the L/F PoR AROC: relook and formulate a way to deliver the L/F
technology in the hands of the Soldier faster and cheaper

Defines purpose, requirements and roles & responsibilities to purchase

Signed by LTG Murray up to 150 L/F PLS and conduct one year Operational Tech Demonstration
on 4 May 2017
 Performance levels of TARDEC’s AGR Inc I solution to be evaluated Sep 2017.
 Coordinate with CIO/G6 and ARCYBER to tailor spectrum and cyber security
requirements

Directed Requirement Schedule

2018 2019 2020 2021
Deliver 70 L/F PLS Trucks
Urgent Materiel Operational Tech Demo
Release

Army Acquisition Objective TBD at later date.

PLS A1 Operational Technology Demonstration (OTD)

 FORSCOM will identify high optempo Transportation Medium
and Composite Truck Companies to field L/F PLS trucks
 TRADOC ICW ATEC, FORSCOM, G8 and AMC develops the
analytical support and data collection plan to inform future CPD

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Expedient Leader Follower Schedule

FY17 FY18 FY19 FY20 FY21 FY22 FY23 FY24 FY25
Increment I
DP 1: Approve LF DR
L/F A/B Kit Build System 10 Engineering
Tuning Build Test LF Issued to Operational Units DP 2: Establish OTD Performance Baseline
DP 3: Procure remaining OTD Systems
ATEC Test
Capability Inc II Inc III
Assessment DP 4: Execute Operation Tech Demonstration
UMR
OTD Build DP 5: LR AROC for MS C
DP 6: Procure remaining LRIP Systems
DP
3 3 DP 5 DP
1 DP DP 4
2 DP 6 DP
Directed FRP FUE
Requirement Funding MDD CPD MS C
Received

Increment II ATC Safety

Development SW
Refinement Test ATEC Test UMR

Capability User
Assessment Assessment UMR AGR STO 6.2 / 6.3 Funded
Expedient L/F 6.4 Funding
Increment III Development SW
Refinement
ATC Safety
Test ATEC Test
FMR
Capability User
Assessment Assessment

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Key Programs Building a Foundation for MUMT

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NGCV RCV Top Line S&T Efforts

Wingman Joint Concept Tech Demonstration
Develop an effective weaponized robotic NGCV Robotic Combat Vehicle Prototypes
system by integrating robotic controls, target
acquisition, and remote weapon system onto
a surrogate platform for soldier evaluation;
Initial Capability Surrogate RCV
initial excursions with combat platforms. 3GEN LRAS3

Automated Wide
Combat Vehicle Robotics (CoVeR) Area Search

Develop/integrate technologies that enable

Unmanned
scalable integration of multi-domain robotic M113

+
and autonomous system maneuver
capabilities teamed within Army formations
supporting all combat warfighting functions.
CMI MCAS Remote Turret PLWRWS Gimbal + Electric
30mm XM813 Driven 7.62 Cal weapon
Artificial Intelligence & Machine Learning for NGCV Scenario Based Fire Control SBFC

AI and ML enabled advanced autonomous maneuver

and teaming behaviors to enable unmanned NGCV with
increasing autonomy, unburdening the Soldier operator, Open competition to industry to develop
with a high degree of survivability and lethality in a highly purpose built unmanned platform with high
contested environment inherent mobility and the ability to
integrate multiple mission payloads
(lethality, SA, engineering, etc.)
C4ISR Modular Autonomy
Research and develop multifunction mission
command, sensing, and communications
technologies and approaches to enable the
required C4ISR capabilities for autonomous
and semi-autonomous platforms.

Sensors for Autonomous Operations and Survivability

Development of automated, advanced multi-function
sensors and algorithms enabling man-unmanned
combined arms maneuver in complex environments. for
next generation manned, optionally manned, and
Purpose Built RCV
robotic platform applications.
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RCV Unmanned Experimental Prototype I

• Autonomy:
• Teleoperation
• On-road Waypoint Navigation
• Leader-Follower
• Integrated 360 Situational Awareness
• Pre-shot detection, Hostile Fire Detection & Localization
• Autonomous Search and Target Acquisition (AiTD/R)
• Range of Control: 1km line of sight
• Loss of Control: Vehicle returns to last point of communication
• Network: MPU-5
• Sensors:
• x2 UAS; potentially x2 tethered UAS
• HD Uncooled Local Situational Awareness Cameras
• Digital Video Architecture
• Degraded visual environment capable
• x2 long range target acquisition systems (Stabilized)
(2G FLIR or 3G FLIR LRAS3)
• Lethality:
• x1 XM813 30mm remote weapon station (RWS) with
ammunition handling system (AHS) and Scenario Based Fire
Control System
• x2 purpose built electric drive 7.62 machine gun remote
weapon station (RWS)
• x1 Automatic turreted mortar (81mm)
ATEC Operational Unit • Mobility:
Testing Evaluation
• Maneuver with manned vehicles with augmented teleoperation
• Basic obstacle detection and avoidance at < 20 MPH on road
and < 10 MPH off-road speeds
• Limited teaming and basic tactical behaviors for on-road
operations
• Terrain: Roads/Trails/Open and urban Terrain/Static Obstacles
2x Sections • Weather & Environment: Light Dust/Rain/Snow
• Span of Control (Human in the Loop):
• x1 MFV for x2 RCVs
• No crew members
• 2 operators per RCV led by 1 section sergeant (5 total RCV
crew members
MFV Concept
Platform RCV Platforms
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Key Programs Building a Foundation for MUMT

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Robotics for Complex Missions

Remote Reconnaissance Vehicle (R2V)

Potential Payloads for SMET-Class Systems

EUCOM 2017-18
7kW Gen

R2V provides real-time organic EW capability enabling

Brigade and Battalion Shaping operations

Coalition Assured Autonomous Resupply (CAAR)

*Representative
system, shown with
GDLS permission
CAAR 2019 Grayling, MI Demo will highlight Autonomy
and Weaponization on SMET-Class Surrogates
Autonomous Tunnel Exploitation

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Logistics Resupply and Combat Robotics Safety

AGR and Expedited Leader Follower Combat Vehicle Robotics

 AGR has collaborated with ATEC in order to build safety  Holistic approach to the development of Robotic
into the design for unmanned operations. and Autonomy System (RAS) robotic systems.
 Building a robust safety strategy requires:  Establishment of RAS Safety Office
 Identifying the potential mishaps  Development of RAS Safety Standards
 Building mitigations into the design  Development of RAS Virtual Testing
 Providing evidence the mitigations work and are Procedures
reliable  Research in Safety Based Design
Methodology for Robotic Systems
There are two key aspects of the safety strategy:
• Isolate safety criticality • Redundancy built into
to the minimal set of design so the system can
software components. be its own backup
• Required because • Reduces the required
autonomous systems reliability and level of rigor
will continue to evolve required
and increase capability. • Allows for mission
completion in the event Methodology for Development of Fieldable Robots
something does fail.
RAS-Safety RAS - Safety
Isolation Strategy Design & Verification End Result
Research
RAS Safety Fieldable Robots that
Robotic Systems Standards have obtained
Designed for Safe & Virtual Safety Safety Confirmations
Operations Testing

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TORVICE
TRUSTED OPERATION OF ROBOTIC VEHICLES IN A CONTESTED ENVIRONMENT
Purpose: US Army project with Australia DST-G to develop and test the control
and protection of a robotic vehicle over intercontinental communications while
in a contested environment by building into TARDEC’s Robotic Technology
Kernel (RTK) novel autonomous behaviors, electronic warfare (EW) resilience,
and assessing options for upgrading vulnerable components.

MILESTONES & OBJECTIVES FY16 FY17 FY18 FY19 FY20

- US-AUS Project Arrangement (PA)
RTK Trial 1: Baseline long-distance, intercontinental
control in austere environment
- Refine autonomous control methods to
mitigate latency over long distance (SATCOM) 5 6

Government Owned, Trial 2: Assess vulnerabilities via AUS EW attacks

Designed, Maintained
Autonomy Kit for S&T Dev - Develop EW-resiliency and novel autonomous
behaviors to counter passive (e.g., GPS- and 3 6
COMS-denial) and active EW threats
TARDEC Robotic
- Upgrade component hardware to overcome
Technology Kernel and mitigate EW threats
Trial 3: Assess protection vs AUS EW attacks
PAST - Write technical reports
DSAT, DHS-T3, GSS MRZR, MUER,
AMAS MTV
Outcome: The result is a matured autonomy kit that extends the reach of the
ONGOING Warfighter by improving robot robustness under challenging conditions and a
Wingman, TORVICE, AGR STO,
US/UK Convoy, AGVRA template for deploying robots under EW. Furthermore, all realized capabilities
become part of TARDEC’s RTK, which feeds current and future Army robotics
FUTURE efforts, resulting in significant time and cost savings.
ExL/F, ROS-M, SMET PoR, ACO
PoR, UAV Teaming, MUMT

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Opportunities for Industry to Participate

Join consortium working to develop Army autonomy

framework and gain access to free autonomy software.

Contact Us: [email protected]

Opportunities are coming soon through Defense Mobility

Enterprise for recently funded accelerations in Combat
Vehicle Robotics. Join for access and respond.

• Advanced Autonomy Behaviors • Platform Sensors and Computing

• Unmanned Combat Platforms • Autonomous System Testing / Safety
• Human Machine Interface • By-wire Actuation of Platforms

Join on 25-26 April in Warren, MI for ROS-M

software modularity demonstration and detailed information on
new opportunities for TARDEC’s S&T Investments and
for NGCV Manned and Unmanned Prototypes

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BACKUP

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Development Path for Autonomy

System
Algorithm Improvement Prototyping
High Fidelity Simulation

Hardware in the Loop Physical Experimentation

System Integration Lab

Autonomous system development is an

interdisciplinary practice underpinned by
continuous virtual and physical testing

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 Next Generation Combat Vehicle Cross Functional Team
Strategic Capabilities Roadmap
FY18 FY19 FY20 FY21 FY22 FY23 FY24 FY25

Foundational Software, Behaviors, Algorithms, Code, Machine Learning – Continuous Updates Incorporated with Experimental Prototypes
Robotic Combat Vehicle

RCV SURROGATE BUILD

Phase 1
Platform
PURPOSE-BUILT RCV EXPERIMENTAL PROTOTYPE Acceleration
Phase 2

PURPOSE-BUILT UNMANNED VEHICLE Platform

Acceleration
Phase 3

Combined Efforts 6x MFVs 6x MFVs Company Set

(2x 3 Designs) (2x 3 Designs) (7/14)
MBL MET-D 4x RCVs 4x RCVs (MFV/RCV)
MUM-T SIM Experiment Leads to
ATEC Operational Unit ATEC Operational Unit ATEC Operational Unit
Testing Evaluation Testing Evaluation Testing Evaluation Program of
Record

ICD Platforms Issued to

Operational Unit
Phase 1
Manned Fighting Vehicle

MFV CONCEPT BUILD Platform

Acceleration
Phase 2
MFV CONCEPT BUILD Platform
Acceleration
Phase 3
PURPOSE-BUILT MANNED VEHICLE

Foundational Mission Enhancement Technology Development – Continuous Updates Incorporated with Experimental Prototypes

PLATFORM DELIVERY
UNCLASSIFIED As of 021815APR18
 Next Generation Combat Vehicle Cross Functional Team
S&T Incremental Growth for NGCV Unmanned
FY18 FY19 FY20 FY21 FY22 FY23 FY24 FY25
Robotic Combat Vehicle

Foundational Software, Behaviors, Algorithms, Code, Machine Learning – Continuous Updates Incorporated with Experimental Prototypes
RCV SURROGATE BUILD
Phase 1
Robotic Combat
PURPOSE-BUILT RCV EXPERIMENTAL PROTOTYPE
Phase 2 Vehicle
PURPOSE-BUILT RCV EXPERIMENTAL PROTOTYPE
Phase 3

Combined Efforts 6x MFVs 6x MFVs Company Set

(2x 3 Designs) (2x 3 Designs) (7/14)
MBL MET-D 4x RCVs 4x RCVs (MFV/RCV)
MUM-T SIM Experiment
ATEC Operational Unit ATEC Operational Unit ATEC Operational Unit
Testing Evaluation Testing Evaluation Testing Evaluation
ICD

2019 2021 2023

ICD with manned vehicles with augmented
• Maneuver • Purpose build platform with high level of inherent FUI with manned vehicles using limited
• Maneuver
teleoperation, or operate in a scout-like role with mobility at reduced overall platform weight. semiautonomous behaviors as unmanned
constant user control required • Platform designed for modular mission payloads to wingman, or operate in a scout-like role with
• Basic obstacle detection and avoidance at < 20 support multiple RCV mission roles reduced user attention
Phase 1
Manned Fighting Vehicle

MPH on road and < 10 MPH off-road speeds • Improved semi-autonomous maneuver capability • Obstacle detection and avoidance at relevant
MFV CONCEPT BUILD speeds (limited negative obstacle detection)
• Limited teaming and basic tactical behaviors for on- with basic obstacle detection / obstacle avoidance
roadPhase 2
operations (ODOA). • Additional teaming for basic on and off-road tactical
• PURPOSE-BUILT
Resupply of maneuver MFV EXPERIMENTAL
formations with unmanned PROTOTYPE
• Increase operational speed both on and off road. behaviors (additional formations, bounding, over
ground vehicles • Initial teaming for basic on and off-road tactical watch)
Phase 3 • Resupply of maneuver formations with unmanned
• Remoted lethality on med cannon / small arms behaviors (formations, firing positions)
• Universal processing box for basicPURPOSE-BUILT
autonomous MFV EXPERIMENTAL PROTOTYPE
• Universal processing box with improved aided air and ground vehicles
target acquisition (AiTR), target tracking (human target recognition, target tracking against expanded • Improved Hostile Fire Threat Detection for
and vehicle targets in open environments) threat sets and standard AiTR architecture expanded threat fire and improved speed
• Pre-Shot detection of threat optics for threat • Integrated 3GEN FLIR for long range target • Universal processing box with target tracking and
detection in complex environments acquisition and engagement an initial demonstration of improved AiTR through
• 3GEN LRAS for long range target acquisition with • 360 all-weather Situational Awareness with EO/IR shared ground and UAS target acquisition data
automated wide area search auto-scanning cameras and integrated Hostile Fire Threat
Foundational Mission Enhancement Technology
capability 360 all-weather SA with Electro-Optic and
Development – Continuous Updates Incorporated with Experimental Prototypes
Detection with optimized processing
Thermal Cameras (EO/IR) and integrated HFD and
localization handoff for anti-armor threats PLATFORM DELIVERY