As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories Intelligent Systems and Robotics Center is developing and testing the feasibility of using a cooperative team of robotic sentry vehicles to guard a perimeter, perform a surround task, and travel extended distances. This paper describes the authors most recent activities. In particular, this paper highlights the development of a Differential Global Positioning System (DGPS) leapfrog capability that allows two or more vehicles to alternate sending DGPS corrections. Using this leapfrog technique, this paper shows that a group of autonomous vehicles can travel 22.68 kilometers with a root mean square positioning error of only five meters.


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    Title :

    Cooperative Sentry Vehicles and Differential GPS Leapfrog


    Contributors:
    J. T. Feddema (author) / C. L. Lewis (author) / R. A. LaFarge (author)

    Publication date :

    2000


    Size :

    12 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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