The Johns Hopkins University

Christopher B McCubbin

David H Scheidt

Paul McNamee

Cheryl L Resch

David P Watson

Christine D Piatko

Shon D Vick

Steven J Marshall

David L Alger

Jessica L Pistole

The Open Autonomy Kernel (OAK) addresses critical infrastructure requirements for next generation autonomous and semi-autonomous systems (), including performance tracking, anomaly detection, diagnosis, fault recovery, and plant 'safing'. OAK combines technologies in automated planning and scheduling, control agent-based systems (), and model based reasoning to form a portable software architecture (), knowledge-base, and open Application Programming Interface (API) to enable integrated auxiliary subsystem autonomy.

System and method for an open autonomy kernel (oak)

An apparatus for mine avoidance that enables a battle group commander to rapidly detect, classify, and identify mines, and form a tactical picture of mined areas. The system is enabled by a graphical user interface which generates a display of the minefield and an avoidance path which is calculated by a rapidly-explored random trees algorithm interacting with algorithms defining avoidance object spaces inserted by an operator in two or three dimensions and transit vehicle characteristics. The apparatus enables a method which establishes the parameters of an area representing a minefield. The area is then populated with obstacle spaces whose areas are functions of the probability of the existence of a mine and through which an avoidance route through the minefield may not pass. The start and end points of the avoidance route are entered on a graphic display of the minefield and an avoidance path there between is calculated and presented as an avoidance route.

Path planning for mine countermeasures

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Baltimore, MD, United States of America

Christopher B McCubbin