Defense Advanced Research Projects Agency (DARPA), Contract Management Directorate (CMD), 3701 N. Fairfax Dr., Arlington, VA 22203-1714

A -- MOBILE AUTONOMOUS ROBOT SOFTWARE SOL BAA 99-09 DUE 012799 POC Dr. Mark L. Swinson, DARPA/ITO, FAX: (703)522-7161 WEB: http://www.ito.darpa.mil, http://www.ito.darpa.mil. E-MAIL: baa99-09@darpa.mil, baa99-09@darpa.mil. Mobile autonomous robot software (MARS) enables the pervasive employment of mobile robots that can autonomously perform useful tasks in realistic, operational environments. These tasks may include platform mobility, navigation, obstacle avoidance, payload conveyance, payload operation (such as sensors, communications equipment, manipulators, and/or weapons), and human-robot interaction -- without dependence on a human operator to exercise control authority. Application domains of interest to the Department of Defense include reconnaissance, surveillance and target acquisition (RSTA); countermine and explosive ordnance disposal; force protection and physical security; and logistics support operations. Current mobile robots are either tele-operated (remotely driven/piloted in real-time) or tele-supervised (semi-autonomous). In the latter, the remote operator need only occasionally provide (near real-time) commands, a role analogous to a tank commander vs. a tank driver. In contrast, DARPA seeks a revolutionary change in the degree of autonomy, whereby the human supplies domain knowledge and mission orders, but is relieved of the need for making any synchronous control inputs (essentially now playing the role of a unit commander). The ultimate goal is to enable the employment of large numbers of autonomous robots by a single operator. DARPA seeks new technologies for the missing software that will enable the continuous, safe, reliable, real-time, and autonomous operation of military unmanned systems in dynamic, unstructured environments. The resultant autonomy will not depend on high quality communications connectivity or a remote human operator for control inputs during mission execution. Robots employing this software will exhibit: reprogrammable, goal-directed behaviors that can exploit symbolic, human-supplied information, reflexive, sensor-mediated behaviors that exhibit stability even in complex, uncertain, dynamic environments, a high degree of adaptability, including a facility for learning, and the capability to safely and reliably operate in close proximity to humans. The MARS program will address two key challenges to the realization of reusable software for autonomous mobile systems: The development of a software framework that enables robots to synthesize the desirable features and capabilities of both deliberative (symbol mediated) and reactive (sensor mediated) control. A software composition methodology that incorporates both programming (hand-coding) and learning-derived (automated coding) software composition to increase the ability of robots to function in unpredictable environments. Proposals should identify which of the following alternative approaches to the above challenges their proposal most closely matches. The alternatives, which are referred to as technical topic areas for the purposes of this solicitation, are: Soft Computing Robot Shaping Imitation Other Irrespective of the approach chosen, each proposal must describe how the performers will realize the following capabilities: Asoftware framework for hybrid deliberative/reactive control. A software composition methodology which mitigates the intractability of exhaustively hand-coding all software-derived, robot functionality. Software functionality to enable autonomous robots to operate safely in close proximity to humans. Prototype software demonstrations and experiments. While the focus is on software technology, the required context is a physically embodied entity operating in realistic environments and performing useful tasks. Proposals should include a laboratory demonstration using contractor furnished, mobile robot hardware, with an optional task of migrating their software to a second, government designated platform and conducting field demonstrations. Proposals should be for a base effort of 24 months, with two 12 month options. Research with a hardware component is not within the scope of this solicitation. Similarly, research on software-only, autonomous systems (knowbots) as well as research focussed on physically embodied agents, but which is to be conducted entirely in computer simulation, is also not within the scope of this solicitation. PROGRAM SCOPE Proposed research should investigate innovative approaches and techniques that lead to or enable revolutionary advances in the state-of-the-art. Proposals are not limited to the specific strategies listed above and alternative visions will be considered. However, proposals should be for research that substantially contributes towards the goals stated. Research should result in prototype hardware and/or software demonstrating integrated concepts and approaches. Specifically excluded is research that primarily results in evolutionary improvement to the existing state of practice or focuses on a specific system or solution. Integrated solution sets embodying significant technological advances are strongly encouraged over narrowly defined research endeavors. Proposals may involve other research groups or industrial cooperation and cost sharing. GENERAL INFORMATION: In order tominimize unnecessary effort in proposal preparation and review, proposers are strongly encouraged to submit brief proposal abstracts in advance of full proposals. An original and nine (9) copies of the proposal abstract must be submitted to DARPA/ITO, ATTN: BAA 99-09, 3701 North Fairfax Drive, Arlington, VA 22203-1714, in time to reach DARPA by 4:00 PM (ET), Thursday, December 3, 1998, to guarantee review. Upon review, DARPA will make a recommendation to offerors either encouraging or discouraging submission of full proposals. Proposers must submit an original and nine (9) copies of full proposals in time to reach DARPA by 4:00 PM (ET), Wednesday, January 27, 1999, in order to be considered. Proposers must obtain a pamphlet, BAA 99-09 Proposer Information, which provides further information on the areas of interest, submission, evaluation, funding processes, proposal abstracts, and full proposal formats. This pamphlet may be obtained by fax, electronic mail, or mail request to the administrative contact address given below, as well as at URL address http://www.ito.darpa.mil/Solicitations.html. Proposals not meeting the format described in the pamphlet may not be reviewed. This Commerce Business Daily notice, in conjunction with the pamphlet BAA 99-09 Proposer Information, constitutes the total BAA. No additional information is available, nor will a formal RFP or other solicitation regarding this announcement be issued. Requests for same will be disregarded. The Government reserves the right to select for award all, some, or none of the proposals received. All responsible sources capable of satisfying the Government's needs may submit a proposal that shall be considered by DARPA. Historically Black Colleges and Universities (HBCU) and Minority Institutions (MI) are encouraged to submit proposals and join others in submitting proposals. However, no portion of this BAA will be set aside for HBCU and MI participation due to the impracticality of reserving discrete or severable areas of this research for exclusive competition among these entities. Evaluation of proposals will be accomplished through a scientific review of each proposal using the following criteria, which are listed in descending order of relative importance: (1) overall scientific and technical merit, (2) potential contribution and relevance to DARPA mission, (3) offeror's capabilities and related experience, (4) plans and capability to accomplish technology transition, and (5) cost realism. All administrative correspondence and questions on this solicitation, including requests for information on how to submit a proposal abstract or proposal to this BAA, must be directed to one of the administrative addresses below by 4:00 PM (ET), Wednesday, January 20, 1999; e-mail or fax is preferred. DARPA intends to use electronic mail and fax for some of the correspondence regarding BAA 99-09. Proposals and proposal abstracts may not be submitted by fax; any so sent will be disregarded. The administrative addresses for this BAA are: Fax: 703-522-7161 Addressed to:DARPA/ITO, BAA 99-09 Electronic Mail: baa99-09@darpa.mil Electronic File Retrieval: http://www.ito.darpa.mil/Solicitations.html Mail: DARPA/ITO ATTN: BAA 99-09 3701 North Fairfax Drive Arlington, VA 22203-1714 Posted 11/02/98 (W-SN267262). (0306)

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