Passive Simultaneous Localization and Mapping (SLAM) for Terminal Guidance

Objective: The objective of this topic is to develop applied research toward an innovative capability that will provide kinetic One-Way Attack (OWA) Unmanned Aerial System (UAS) enhanced terminal guidance capability on approach to target by passively perceiving and navigating through complex, cluttered, and unstructured environments at mission relevant speeds. Description: This topic seeks innovative research and development efforts that allow Special Operations Soldiers to employ autonomously navigating Group 1 UAS in complex, cluttered, and unstructured environments. OWA UAS often have some level of autonomous terminal guidance when a target is verified and approved for targeting. Basic UAS terminal guidance capabilities typically utilize computer vision to develop bounding boxes on a selected target and navigate directly to that location. Utilizing a designated target as a destination, the UAS developed under this SBIR must be capable of navigating to the target location/object by building a model of its current position relative to a designated target, identifying obstacles between the platform and the target, then developing and executing a navigation plan to the target while dynamically adjusting with changes in surrounding environment. As a part of this feasibility study, the proposers shall address all viable overall system design options with respective specifications on the following key system attributes: Must be capable of utilizing passive sensors to perceive local environment. Must be capable of identifying, analyzing, and selecting suitable navigation paths for UAS through unstructured dynamic environments. UAS should be capable of navigating to both static and dynamic targets. UAS should be capable of loop-closures to correct INS/SLAM drift. All data, compute, and sensors utilized for navigation must be organic to aircraft (i.e. no cloud compute or reach-back authorized). Must be Modular Open System Approach (MOSA)/Open software compatible. Must use industry standard flight controls (Mavlink, Ardupilot, etc). Keywords: Autonomy; Position, Navigation, & Timing (PNT); Terminal Guidance; Unmanned Systems; Unmanned Aerial Vehicles; Unmanned Aerial Systems, Robotics; Robotics and Autonomous Systems; Artificial Intelligence; Machine Learning; Simultaneous Localization and Mapping; Passive Sensing; Human-Machine Teaming; CMMC Level: Level 1