Griffon: A Small Scale Unmanned Air/Ground Vehicle

We propose to develop Griffon, a man-portable UAV/UGV that is capable of delivering lethal and non-lethal payloads. Griffon will combine the speed and range of a UAV with the precise ground mobility of a UGV. Griffon will be based the rugged, all-terrainiRobot PackBot UGV. Griffon will add an Air Mobility System (AMS) to the PackBot consisting of a powered parafoil that attaches to the PackBot chassis. The powered parafoil provides a compact, lightweight means of adding flight capability to the PackBot.Griffon will fly autonomously to operator-specified waypoints using an onboard GPS receiver and a three-axis orientation sensor. Semi-autonomous launch and landing software will assist the operator in transitioning from ground to air modes and back.During Phase I of this project, we will develop a complete hardware and software design for Griffon. The hardware design task will include the development of a radio-controlled powered parafoil demonstrator to determine the power and control requirementsfor the AMS. The software design will include all of the Griffon software components and the system architecture for integrating these components. During the Phase I Option, we will integrate a gasoline-powered engine with a PackBot and develop the AMSengine control software. UAVs provide an operator with the ability to rapidly arrive at a site of interest, reconnoiter the area from above, and (in the case of the armed Predator) deliver a lethal payload to any exposed target. However, UAVs lack the ability to observe orattack targets that are concealed inside structures, such as caves or buildings. In contrast, UGVs have the capability to enter structures, search for targets, and examine these targets at close range (using video transmission). However, UGVs are muchslower than UAVs, have limited range, and have less capability to cross very rough terrain. In many situations, what is needed is an unmanned vehicle that combines the strengths of UAVs and UGVs.We propose to develop Griffon, a man-portable UAV/UGV hybrid capable of performing reconnaissance, surveillance, and delivery of a lethal payload. Griffon will be based on the iRobot Corporation PackBot platform, a rugged, all-weather, all-terrain robotdeveloped for DARPA's Tactical Mobile Robotics Program. PackBot is currently being tested by the U.S. Army in Afghanistan on missions to search cave complexes and suspected al Qaeda compounds. PackBot will be available as a commercial product in the fallof 2002.The extensive use of airstrikes in Afghanistan has been successful at limiting U.S. casualties due to enemy action. However, the limitations of airpower are evident when intelligence about ground targets is incomplete or suspect, both in terms of civiliancasualties and the difficulty in precisely targeting enemy forces under concealment. Weapons like Griffon will enable the Objective Force to strike accurately at enemies in caves, buildings, and other structures - hitting the desired targets, minimizingcollateral damage, and providing real-time assessment of the attack's effectiveness.Griffon will also have commercial applications in civilian search and rescue in rough terrain. Griffon's flight capability will enable it to fly over lakes, mountains, and other potential obstacles to ground movement. When Griffon finds a victim, it willbe able to land, deliver medical aid, and allow the victim to communicate with rescuers.