A Decision-Based Mobility Model for Semi and Fully Autonomous Vehicles

Project began in 2018.

This work will develop a method to define mobility for ground vehicles exhibiting partial to full-autonomy. The existing counterpart is the measure derived from the NATO reference mobility model (NRMM) and the upgrades made to it over time. More generally, this research will provide a formal methodology of evaluating ground vehicle systems and thereby help with acquisition decisions pertaining to them. To ensure that the proposed model is consistent with existing methods and is also amenable to future vehicle developments, careful attention will be given to the mobility metric of choice, attributes that affect it (including cost), decision variables and sources of uncertainty. A decision-theoretic approach is envisioned.

The general objective is to incorporate the decision making preferences of the US Army into an unambiguous metric for evaluating ground vehicles exhibiting some degree of autonomy. This will be done through proper attribute identification and modeling of the US Army’s preferences over them. Any degree of autonomy has the potential to severely alter the mobility of the vehicle, and must be accounted for in the metric – a shortcoming in the existing methods. Different terrains must also be tested as well as uncertainties in them. With this in mind, the research will first create and solidify a set of desirable properties for the metric.

Publications:

• Pandey, V., Bos, J., Ewing, J., Kysar, S. et al., “Decision-Making for Autonomous Mobility Using Remotely Sensed Terrain Parameters in Off-Road Environments,” SAE Int. J. Adv. & Curr. Prac. in Mobility 3(4):1682-1689, 2021, https://doi.org/10.4271/2021-01-0233.
• Mollan, C, Pandey, V, Slon, C, & Gorsich, D. “Sequentially Utility Maximizing Path Planning Using a Distributed Pool Architecture.” Proceedings of the ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 3B: 47th Design Automation Conference (DAC). Virtual, Online. August 17–19, 2021. V03BT03A008. ASME. https://doi.org/10.1115/DETC2021-67946
• Pandey, V., Slon, C., Deschenes, L., Gorsich, D. and Jayakumar, P., 2020. “A Decision Based Mobility Model for Semi and Fully Autonomous Vehicles” Accepted in the SAE International Journal of Advances and Current Practices in Mobility, also appeared in the SAE WCX. Technical Paper 2020-01-0747.
• Kassoumeh, S., Majcher, M., Ealy, J., Gorsich, D., Jayakumar, P., and Pandey, V., 2020, “Balancing Lifecycle Sustainment Cost with Value of Information during Design Phase” Accepted in the SAE International Journal of Advances and Current Practices in Mobility, also appeared in the SAE WCX. Technical Paper 2020-01-0176
• Pandey, V., Slon, C., Mollan, C., Barthlow, D., Gorsich, D., and Jayakumar, P., 2020, “Utility Function Derived Off-Road Vehicle Path Planning”, Proceedings of the 2020 ASME International Design Engineering Technical Conferences, St. Louis MO (moved virtual).
• Barthlow, D., Pandey, V., Gorsich, D., and Jayakumar, P., 2020, “Off-Road Vehicle Path Planning Using Geodesics on a Multifactor Terrain Model”, Proceedings of the 2020 ASME International Design Engineering Technical Conferences, St. Louis MO (moved virtual).
• Slon, C., Pandey, V., Gorsich, D. and Jayakumar, P., 2020. “Reconciling Simultaneous Evolution of Ground Vehicle Capabilities and Operator Preferences” SAE World Congress, Detroit MI. Technical Paper 2020-01- 0172.

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