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Volume: 33 | Article ID: art00017
Design, Implementation, and Evaluation of a Semi-Autonomous, Vision-based, Modular Unmanned Ground Vehicle Prototype
  DOI :  10.2352/ISSN.2470-1173.2021.17.AVM-214  Published OnlineJanuary 2021

In some traditional development processes, engineering teams communicate their subsystem interfaces without much overlap o their respective disciplines and processes. However, for a systems engineering-driven design, a holistic, multidisciplined approach is implemented from the ground up, with considerable overlap between the teams in every phase of the project. Approaching a system from a holistic perspective, rather than an isolated subsystem perspective, is a fundamental component to rapid prototype development and successful system integration. It is also required for full project-level concerns such as the data, security, safety, and sustainability operations. This paper presents the development of a prototype modular unmanned ground vehicle (UGV) used for fire detection and elimination. Taking a systems engineering approach, the mechatronics and control systems designs are performed first, then the system and the important subsystems are built and tested, and finally, the evaluation results are fed back for the next prototype iteration. The goal of this paper is to give engineering students and professionals an example of the process behind holistic development of a semi-autonomous UGV and to begin an inexpensive, readilymodified platform for engineers to build upon.

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Doncey Albin, Steve Simske, "Design, Implementation, and Evaluation of a Semi-Autonomous, Vision-based, Modular Unmanned Ground Vehicle Prototypein Proc. IS&T Int’l. Symp. on Electronic Imaging: Autonomous Vehicles and Machines,  2021,  pp 214-1 - 214-9,

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