AUTONOMOUS GROUND RESUPPLY AUTONOMY KIT

In this paper, we will present the results of our efforts developing the Autonomy Kit for the Tank Automotive Research Development and Engineering Center’s (TARDEC) Autonomous Ground Resupply (AGR) Sustainment Operations (SO) program. Robotic Research, LLC was responsible for the design, build, and implementation of the “Autonomy Kit” for the AGR SO. The Autonomy Kit is designed to be a fault-tolerant, vehicle-agnostic applique kit that provides the hardware and software needed to perform higher-level autonomous driving and planning functions. In the first Increment, the main focus was developing a “Leader/Follower” capability, where a manned “Leader” vehicle could perform a mission with a number of unmanned “Followers” reproducing its trajectory, maintaining convoy constraints, and avoiding obstacles in the path.