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fireseeker autonomous i e d search pack bot- robot frontier（fireseeker自治我e d搜索包机器人,机器人前沿）.doc

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Fireseeker: Autonomous IED Search PackBot WHITE PAPER Brian Yamauchi Lead Roboticist, iRobot Corporation Email: yamauchi@, Phone: (781) 418-3291 Overview For our troops in Iraq, who face daily attacks with Improvised Explosive Devices (IEDs), Fireseeker is an autonomous robot that can find IEDs in urban environments. Unlike hand-held explosives detectors, Fireseeker allows warfighters to maintain a safe standoff distance from potential IED locations and frees warfighters to perform other tasks. US soldiers in Iraq are currently testing PackBots equipped with Nomadics Fido explosives sensors to determine their ability to detect IEDs placed by insurgents. While teleoperated robots provide some additional standoff distance for warfighters, Fireseeker takes this capability to the next level, allowing soldiers to specify a particular area to be searched for explosives and enabling the robot to perform the search autonomously. Each Fireseeker UGV provides the following benefits: Can autonomously search for IEDs and VBIEDs in urban terrain Frees warfighters for other tasks Reduces manpower requirements Increases standoff distance from suspected IEDs and VBIEDs Man-portable for quick, easy deployment Battle-tested PackBot platform (over 200 deployed in Iraq and Afghanistan) Field-tested Fido explosives sensor Established logistics and maintenance support capabilities Each Fireseeker UGV is capable of performing a wide range of IED search missions including: Perimeter Search Search a building perimeter for IEDs and/or VBIEDs and mark their locations on a map 5-and-25 Clearance Deploy from a stopped vehicle carrying mounted troops and search a 5-meter radius around the vehicle for IEDs and then a 25-meter radius In each case the Fireseeker UGV operates completely autonomously and relays its findings back to its Operator Control Unit (OCU) in real-time. Concept of Operations (CONOPS) Scenarios Scenario 1: Perimeter Search (EOD Team) In the first scena