UGV Demo II reuse technology for AHS

The primary goal of the Advanced Research Project Agency (ARPA) unmanned ground vehicle (UGV) Demo II program is to demonstrate the utility of advanced unmanned systems to conduct tasks that enhance the Department of Defense force structure. Some of the key technologies being developed include perception, autonomous navigation, and passive stereo vision and an active scanning laser rangefinder, both for obstacle detection. A good portion of this technology has direct relevance to the US Department of Transportation's Automated Highway System (AHS) program. The program focuses on a planned evolution to an automated highway, starting from today's vehicle-highway system. The envisioned AHS would operate properly equipped vehicles under full automated control on dedicated lanes. This paper presents each applicable reuse capability, including supporting hardware and software required. We also note any special "lessons learned" during integration and/or operation of the specific technology. Reuse technology is mapped to the AHS minimum functions such as lateral vehicle control.