Autonomous Ground Systems ADVANCED PERFORMANCE COMPUTING POWER FOR LARGE DATA SET PROCESSING Karl Rosenberger, RAVE Sara Blackmer, RAVE Steve Wesoloski, RAVE John Brabbs, TARDEC 8/9/2018 DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
Autonomous Ground Overview Systems • Background/Problem - Challenges of real world robotic and autonomous systems testing • Hypothesis - Virtual testing provides complement to real world testing • Solution – Simulation Environment – Processing Hardware • Key Take-aways/Conclusion • Future DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Background/Problem Systems Robotic & Autonomous Systems (RAS) Leader-Follower (LF) System Concept • Uses Large Unmanned Ground System (LUGS) - Manned lead vehicle followed by unmanned followers • Uses an Applique architecture for the current manned vehicle fleet to automate the vehicle via three different kits: – Autonomy kit (Akit) - Composed of perception sensors and computers for processing sensor data for implementing high level autonomy behaviors – By-Wire kit (Bkit) - Permits control of all primary vehicle controls and provides feedback and control of platform components – Warfighter Machine Interface (WMI)/Radio Network Interface (RNI) kit - Allows the communication and control of the convoy (Ckit) • These kits will be used to retrofit existing vehicles with autonomous capabilities. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Background/Problem Systems Challenges of real world robotic and autonomous systems (RAS) testing: “ Before being fielded, Army RAS will need to be rigorously tested under representative operational conditions by soldiers in the unique environments where the RAS will operate .” – Safety – Hardware and Software failure potentials – Test facility limitations – Terrain, weather, traffic, event scenarios… – Driver availability – 1 per vehicle (minimum) – Testing equipment/trucks – March Unit consists of 2 to 4 vehicles – fully instrumented – Time required – 1 million miles = 3.42 yrs (50mph average for 16 hrs/day) – Cost - $$$ DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Hypothesis Systems • Virtual-World RAS Testing could provide a vital complement to real world or live RAS testing. – Can a simulation environment overcome or reduce challenges posed in real world testing? • Can a virtual simulation environment (software) be developed that replicates real world conditions? • Can a physical simulation environment (computer solution) be developed to support this virtual world? DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Solution Systems Continuous Autonomy Simulation Test Laboratory Environment (CASTLE) – Simulation Environment (Virtual) – Processing (Hardware) DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Solution – Simulation Environment Systems TARDEC RAS M&S Capability • Enhance current real-time M&S capability – To evaluate and test edge cases – Augment not replace real world testing – Use controllability, repeatability, and scalability available in virtual world DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Solution – Processing Hardware Systems CASTLE HW Configuration LF System Concept (2 vehicles) • Each RAVE HPC workstation in CASTLE represents one vehicle. • This is an improvement over the workstations that TARDEC used on a previous project that required two workstations per vehicle, one to represent the virtual simulation environment, one to support the autonomy software. • CASTLE can currently support up to an eight vehicle convoy, two four vehicle convoys, or four two vehicle convoys (shown below). DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Solution – Processing Hardware Systems Customized configuration required • No suitable solution available off the shelf • Each component of system must be best of breed RAVE HPC Workstation Specifications: Motherboard Intel X99 Chipset Processor Intel Xeon multi-core, multi-thread (14 cores, 28 threads) RAM 64 GB GPU GeForce GTX 1080Ti DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Solution – Processing Hardware Systems Key aspects of system design – Compact form factor • Short-depth 4U rackmount chassis – Reliable • Server-grade chassis, cooling and components • Custom cooling system installed, high airflow • IPMI for remote management – Optimized • Started with the most ideal motherboard on the market – Low latency, high throughput – Upgradeable DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Key Take-aways Systems 1. Data captured from real-world testing of concept being used • CASTLE replay’s the leader vehicle positions • The followers’ autonomy software execute in real time in the virtual simulation environment. • Location of the follower during the real test is replayed as a ghost vehicle to compare with the simulated follower. • The WMI messages are also replayed to change the gap distance DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Key Take-aways Systems 2. Dynamic obstacles between leader and follower • The test below shows how moving a dynamic obstacle in between the leader and the follower verifies that the follower will stop for the dynamic obstacle • This provides evidence that the simulated LIDAR is providing the correct input to the autonomy software to recognize an obstacle in its path. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Key Take-aways Systems 2. Dynamic obstacles (continued) • Once the dynamic obstacle moves out of its path of the leader vehicle, follower resumes • Again this provides evidence that the simulated LIDAR is providing the correct input to the autonomy software to recognize no obstacle in its path. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Key Take-aways Systems 3. Enables thousands of iterations by only changing a few parameters: – Angle of the sun, weather, dynamic and static obstacles – LF gap distance and convoy speed DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Key Take-aways Systems REAL-WORLD TESTING VIRTUAL-WORLD TESTING (PROBLEM) (SOLUTION) 2 test range personnel required No range personnel needed 1 test engineer required 1 test engineer to setup the scenarios to run Weather conditions are limited to Computer simulation can easily those available at the time and model different weather conditions location of testing (e.g., if you want and times of day to do cold weather testing than you Test Range will need to go to a cold weather region) Terrain type is limited to what is Infinite terrain types are possible available at the test range Test range availability is limited Virtual world is available 24/7 Test range usage has a cost per Once virtual terrain is built, it can hour be used as many times as needed with no additional cost Lead vehicle = 1 driver Lead driver is automated Drivers Safety drivers for Followers (e.g., 3 No safety drivers are necessary Followers = 3 people) DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 8/9/2018
Autonomous Ground Key Take-aways Systems REAL-WORLD TESTING VIRTUAL-WORLD TESTING (PROBLEM) (SOLUTION) Testing a single March Unit (1 Trucks are all virtual so there is no Leader + 3 Follower vehicles) limit requires four vehicles Simulating a convoy comprised of Simply add more computers if more multiple March Units requires four trucks are needed more physical vehicles per Test Vehicles additional March Unit 1 - 2 spare vehicles are needed on No spare vehicles needed, virtual site to fill in for maintenance or fuel vehicles don't break down or need interruption, preventing a delayed to refuel or degraded test as a result of temporarily missing vehicles Additional trucks may not be There is a very low one-time cost available; Each truck adds an for an additional computer (i.e., ongoing cost truck) Fuel cost is ongoing for all testing No fuel cost Vehicle maintenance cost No vehicle maintenance cost DISTRIBUTION STATEMENT A. Approved for public (mechanic available) release; distribution unlimited. 8/9/2018
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