SPIE Proc. 7332: Unmanned Systems Technology XI, Orlando, FL, April 14-17, 2009 Land, Sea, and Air Unmanned Systems Research and Development at SPAWAR Systems Center Pacific Hoa G. Nguyen,* Robin Laird, Greg Kogut, John Andrews, Barbara Fletcher, Todd Webber, Rich Arrieta, and H.R. Everett Space and Naval Warfare Systems Center Pacific San Diego, CA 92152 * E-mail: hoa.nguyen@navy.mil ABSTRACT The Space and Naval Warfare (SPAWAR) Systems Center Pacific (SSC Pacific) has a long and extensive history in unmanned systems research and development, starting with undersea applications in the 1960s and expanding into ground and air systems in the 1980s. In the ground domain, we are addressing force-protection scenarios using large unmanned ground vehicles (UGVs) and fixed sensors, and simultaneously pursuing tactical and explosive ordnance disposal (EOD) operations with small man-portable robots. Technology thrusts include improving robotic intelligence and functionality, autonomous navigation and world modeling in urban environments, extended operational range of small teleoperated UGVs, enhanced human-robot interaction, and incorporation of remotely operated weapon systems. On the sea surface, we are pushing the envelope on dynamic obstacle avoidance while conforming to established nautical rules-of-the-road. In the air, we are addressing cooperative behaviors between UGVs and small vertical-take- off-and-landing unmanned air vehicles (UAVs). Underwater applications involve very shallow water mine countermeasures, ship hull inspection, oceanographic data collection, and deep ocean access. Specific technology thrusts include fiber-optic communications, adaptive mission controllers, advanced navigation techniques, and concepts of operations (CONOPs) development. This paper provides a review of recent accomplishments and current status of a number of projects in these areas. Keywords: Navy, SPAWAR, robotics, unmanned systems, UGV, USV, UAV, UUV 1. INTRODUCTION The Space and Naval Warfare Systems Center Pacific (SSC Pacific) and its predecessor organizations have been pioneers in the unmanned systems field for over 45 years. This legacy began with unmanned underwater vehicles (UUVs) in the early sixties, 1 and was extended to include unmanned ground vehicles (UGVs) in the early eighties. Initial work involved the development of teleoperated dune buggies and HMWWVs for the US Marine Corps, 2,3 followed by autonomous indoor and outdoor security robots for the US Army. 4,5 In the late nineties, SSC Pacific built six small teleoperated UGVs for use by Army engineers in tunnel, sewer, cave, and urban structure reconnaissance. These early systems participated in several experiments at Fort Leonard Wood, MO, Fort Drum, NY, and Fort Polk, LA. 6 In April 2002, SSC Pacific provided four robots to Navy Explosive Ordnance Disposal (EOD) Mobile Unit 3 for use in Operation Enduring Freedom in Afghanistan. 7 The San Diego robotics group was designated a “Center of Excellence for Small Robots” by the Office of the Secretary of Defense (OSD) shortly thereafter. Following the World Trade Center attacks in 2001, DARPA transitioned their Tactical Mobile Robot (TMR) program to SSC Pacific, initiating a focused effort to upgrade the autonomy and functionality of man-portable robots. In 2002, relevant components of UGV autonomy were adapted for use on unmanned surface vehicles (USVs), and the lab’s first attempts at collaborative behaviors took the form of UGV/UAV marsupial integration. The “Warfighter’s Associate” concept for proximal human-robot teaming was introduced at the SPIE Mobile Robots XVII conference in Philadelphia, PA, in October 2004, 8 and remains an important area of continued emphasis.