Construction of an obstacle map and its realtime implementation on an Unmanned Ground Vehicle

This paper presents the development of an obstacle mapping system based on the concept of a Probabilistic Threat Exposure Map (PTEM). The paper also discusses the realtime embedded implementation of this obstacle mapping system on a small Unmanned Ground Vehicle (UGV) to support realtime obstacle avoidance. These activities are a part of a larger effort to establish a theoretical foundation for autonomous and cooperative multi-UxV guidance solutions in adversarial environments.