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63 South Avenue Burlington, MA 01803 (781) 345 0200 DOCUMENT NUMBER FIR-01 REVISION 01 DATE PAGE 18-Oct-22 of 16 DESCRIPTION Fireseeker: Autonomous IED Search PackBot All information, data, designs and drawings contained herein are the property of iRobot Corporation and may not be reproduced, copied, appropriated or disclosed to third parties, directly or indirectly, without the express written consent of iRobot Corporation.(c) [2004] iRobot Corporation Fireseeker: Autonomous IED Search PackBot WHITE PAPER Brian Yamauchi Lead Roboticist, iRobot Corporation Email: yamauchi@irobot.com, Phone: (781) 418-3291 Overview For our troops in Iraq, who face daily attacks with Improvised Explosive Devices (IEDs), Fireseeker is an autonomous robot that can find IEDs in urban environments Unlike hand-held explosives detectors, Fireseeker allows warfighters to maintain a safe standoff distance from potential IED locations and frees warfighters to perform other tasks iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot of 16 US soldiers in Iraq are currently testing PackBots equipped with Nomadics Fido explosives sensors to determine their ability to detect IEDs placed by insurgents While teleoperated robots provide some additional standoff distance for warfighters, Fireseeker takes this capability to the next level, allowing soldiers to specify a particular area to be searched for explosives and enabling the robot to perform the search autonomously Each Fireseeker UGV provides the following benefits:         Can autonomously search for IEDs and VBIEDs in urban terrain Frees warfighters for other tasks Reduces manpower requirements Increases standoff distance from suspected IEDs and VBIEDs Man-portable for quick, easy deployment Battle-tested PackBot platform (over 200 deployed in Iraq and Afghanistan) Field-tested Fido explosives sensor Established logistics and maintenance support capabilities Each Fireseeker UGV is capable of performing a wide range of IED search missions including:   Perimeter Search  Search a building perimeter for IEDs and/or VBIEDs and mark their locations on a map 5-and-25 Clearance  Deploy from a stopped vehicle carrying mounted troops and search a 5-meter radius around the vehicle for IEDs and then a 25-meter radius In each case the Fireseeker UGV operates completely autonomously and relays its findings back to its Operator Control Unit (OCU) in real-time Concept of Operations (CONOPS) Scenarios Scenario 1: Perimeter Search (EOD Team) In the first scenario, an EOD team is called to investigate possible explosives in a specified city area The EOD team deploys a squadron of Fireseekers and they spread out over the terrain and autonomously perform perimeter recon around each block If any robot discovers a suspected IED using its onboard Fido explosives sensor, it transmits the suspected location of the device to the troops on the scene, as well as any observers back at headquarters SRI’s coverage algorithm will let the operator specify the area where he wants the robots to search He could also specify additional mission parameters like areas where he wants the robots to focus the search (intersections, building entrances) The operator then simply selects how iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot of 16 many robots he wants to deploy The coverage algorithm generates a search pattern for all the robots, computes the ETA for the mission completion, and displays the progress of the search If an IED is detected, the robot will send the approximate position of the possible threat EOD technicians investigate the suspected IEDs, using a robot such as the PackBot EOD to approach and examine the suspected devices The EOD team then destroys any devices that are deemed to pose a threat Once the Fireseeker robots have completed reconnaissance of the entire area, they signal the operator that the search is complete Scenario 2: 5-and-25 Clearance (Mounted Infantry) Warfighters in a HMMWV are patrolling an urban area known to be frequently targeted by insurgents They are ordered to stop at a specified location and rendezvous with other troops According to the Joint IED Defeat Task Force’s 5-and-25 doctrine, they first search the area in a 5-meter radius around their vehicle for potential threats, and then search the area in a 25-meter radius Instead of dismounting their vehicle and exposing themselves to IED attack or enemy fire, the warfighters deploy a Fireseeker robot from the Humvee The robot then autonomously searches the area within a 5-meter radius, using its Fido sensor to detect any explosives present If the 5-meter zone is clear, the robot then autonomously searches the area within 25-meters, while the soldiers remain protected inside the vehicle If any IEDs are found during either phase of this search, the robot sends an alert to the warfighters The Humvee can then be relocated to a safe position, and an EOD team can be dispatched to disarm the device Fireseeker UGV PackBot Platform We have selected the highly-robust, all-weather, all-terrain, man-portable iRobot PackBot as the UGV platform for Fireseeker PackBot was developed under the DARPA Tactical Mobile Robotics program (contract F04701-01-C-0018) PackBot is equipped with two main treads, used for locomotion, and two articulated flippers with treads that are used to climb over obstacles PackBot can travel at sustained speeds of up to 4.5 mph On a full set of batteries, PackBot can drive at 4.5 mph continuously for hours, for a total range of 36 miles Standing still, PackBot can run its computer and sensor package for 36 hours iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot of 16 PackBot is 27 inches long, 16 inches wide, and inches tall, and weighs 40 pounds All of a PackBot’s electronics are enclosed in a compact, hardened enclosure These electronics include a 700 MHz mobile Pentium III with 256 MB SDRAM, a 300 MB compact flash memory storage device, and a 2.4 GHz 802.11b radio Ethernet Each PackBot can withstand a 400G impact, equivalent to being dropped from a second story window onto concrete Each PackBot is also waterproof to meters Three modular payloads fit into the rear payload bay Each payload connector provides power, Ethernet, and USB connections from the PackBot to the payload module for a highly-flexible mission capability PackBot is a robust platform for all-weather, all-terrain mobility PackBot is at home in both wilderness and urban environments, outdoors and indoors In the wilderness, PackBot can drive through fields and woods, over rocks, sand, and gravel, and through water and mud In the city, PackBot can drive on asphalt and concrete, climb over curbs, and climb up and down stairs while carrying a payload PackBot can also climb up, down, and across surfaces that are inclined up to 60 degrees In addition, PackBot can climb up and down inclines of up to 55 degrees, and across inclines of 45 degrees, while carrying a 22.5 pound payload Heavier payloads can be carried over less steep terrain PackBot is equipped with a sensor head that includes a color camera and a low-light black-andwhite camera The sensor head provides real-time digital video (320 x 240 color images at 30Hz) transmitted over the radio Ethernet to the Operator Control Unit (OCU) Alternative cameras such as an Indigo Omega FLIR (forward-looking infrared) camera or a Sony FCBEX780S zoom camera (25x optical zoom, 12x digital zoom, 300x combined zoom) can also be mounted in the sensor head Figure 1: U.S Army soldier uses a PackBot to explore a cave complex in Afghanistan In Afghanistan, soldiers from the Army’s 82nd Airborne Division have successfully used PackBots to explore cave complexes and suspected al Qaeda compounds Figure shows a iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot of 16 soldier using a PackBot to explore a suspected al Qaeda cave near Qiqay, about 20 miles from Khost in eastern Afghanistan Figure 2: PackBot pulls a wire from a roadside IED in Iraq PackBots equipped with EOD manipulator arms are used on a daily basis to help US soldiers inspect and disarm suspected IEDs in Iraq Figure shows a teleoperated PackBot pulling a wire from a roadside IED In addition, the 101st Airborne Division used a PackBot in the assault on Najaf Army warfighters used the PackBot to perform room-by-room searches of the Najaf Agricultural Research Institute complex, which was suspected of housing Iraqi troops or Fedayeen guerillas Army soldiers have also used PackBots equipped with chemical/biological sensors to search Iraqi mass grave sites for chemical and biological contaminants Fireseeker Software Architecture The Fireseeker software architecture will combine technologies developed at iRobot, SRI, and the Idaho National Laboratory (INL) The iRobot Aware software architecture is a lightweight, high-performance architecture that allows many processes to share information for real-time robot control Aware supports both publish/subscribe and message queue communications abstractions that are implemented via shared memory and UDP message passing This allows the seamless integration of capabilities running on multiple processors The PackBot’s low-level motion control and sensor driver software is implemented via Aware iRobot Proprietary DOCUMENT NO REVISION FIR-01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot 01 of 16 INL Graphical User Interface SRI Coverage Planner INL Intelligence Kernel Architecture SRI Player Architecture Fireseeker IED Search Behaviors Sentinel Multirobot Control Interface iRobot Aware Architecture Nomadics FIDO Sensor Wayfarer Navigation Sensors Other JAUS OCUs PackBot Low-Level Control Software Figure 3: Fireseeker Software Architecture Player is an open-source software architecture developed by SRI and used by many university research laboratories SRI has developed state-of-the-art planning algorithms that allow multiple robots to cover a search area in the presence of dynamic obstacles The Intelligence Kernel is an open-source software architecture developed by INL, which is used by many government research laboratories and some universities We will implement two translator modules so that we can take advantage of all three architectures The Aware/Player translator module will enable communication between Aware and Player This module will subscribe to Aware publications and periodically send the corresponding messages to Player Player can get updated information from the translator and can send commands to the translator For example, consider a coverage behavior running in Player This behavior will be able to send desired positions and velocities to Player The translator will read these commands and publish them via Aware The Aware reactive control behaviors will then attempt to navigate to the specified location iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot of 16 Conversely, consider a localization system running on Player that requires LIDAR and odometry data Aware’s sensor drivers will read the updates from the LIDAR and odometry and frequently update these values in an Aware publication The translator will read all publications and transmit the corresponding data to Player, where it can be used by the localization system The localization system will then publish a corrected position estimate via Player and the translator will publish the position to Aware, allowing all Aware processes to make use of this information A similar approach will be used with the Aware/Intelligence Kernel translator module Wayfarer Autonomous Urban Navigation Fireseeker combines state-of-the-art explosives detectors with autonomous urban navigation capabilities developed by the iRobot Wayfarer Project Wayfarer was funded by the US Army Tank-Automotive Research, Development, and Engineering Center (TARDEC contract DAAE07-03-C-L147) to develop autonomous urban reconnaissance capabilities for the rugged, man-portable, battle-proven, iRobot PackBot UGV The Wayfarer PackBot is capable of performing fully-autonomous perimeter reconnaissance and route reconnaissance missions in urban terrain, including GPS-denied areas [Yamauchi 05] Wayfarer is equipped with LIDAR and stereo vision sensors for obstacle avoidance in threedimensional environments Wayfarer is also equipped with behaviors that add robustness to navigation in unstructured environments, including behaviors that automatically deploy flippers to assist in climbing obstacles and behaviors that detect when the robot is stuck on an obstacle and allow the robot to free itself without human intervention Figure 4: Wayfarer UGV autonomously climbing rock using flippers iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot of 16 Figure 5: Wayfarer UGV performing autonomous perimeter recon in urban environment Figure 6: Map of urban terrain generated by Wayfarer UGV Figure shows a Wayfarer UGV climbing over a large rock using its automatic flipper deployment behavior Figure shows a Wayfarer UGV performing autonomous perimeter reconnaissance in urban terrain Figure shows a map of an urban environment autonomously iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot of 16 generated by a Wayfarer UGV during perimeter reconnaissance The black areas in the map correspond to open space; the white areas correspond to obstacles; and the gray areas are unknown territory The green line shows the path taken the robot This path was determined autonomously by the robot with no user-supplied path, waypoint, or terrain information needed This map was generated using LIDAR for obstacle detection GPS was not used to generate this map Instead the UGV determined its position using a hybrid odometry/compass localization system that provides robust position information in GPS-denied areas The blue lines are spaced at 10 meter intervals, and the total area of the map is approximately 5000 square meters Figure 7: Ruggedized Wayfarer navigation payload We have recently developed a ruggedized version of the Wayfarer navigation payload (Figure 7) that includes LIDAR, stereo vision, and INS/GPS capabilities within a weather-proof housing We plan to integrate the Nomadics Fido sensor with this rugged payload to provide Fireseeker with a battlefield-ready operational capability Sentinel Multirobot Command and Control Interface Fireseeker allows the deployment and control of multiple autonomous UGVs with explosive detectors to search for IEDs Sentinel is funded by TARDEC (contract W56HZV-04-C-0684) to develop a system for the command and control of multiple semi-autonomous UGVs Sentinel provides an intuitive command and control interface allowing a single human operator to effectively control and coordinate multiple UGVs The interface provides the operator with iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot 10 of 16 situational awareness of the ongoing operations of the deployed UGVs using a layered approach The layered approach allows the operator to command and control the robots from a system-level down to low-level direct control of each individual UGV should it become necessary Figure 8: Sentinel system-level command interface (left) and individual UGV control interface (right) The Sentinel system-level command interface, shown in Figure 8, allows the operator to:  Interactively view a map the UGVs are operating in, including the ability to pan, zoom, and view the current and past locations of all UGVs  Specify desired global goal points for each UGV  Gain a quick snapshot of individual UGV and system-level status The Sentinel individual UGV control interface, shown in Figure 8, allows the operator to specify a UGV and:  View detailed telemetry, including battery charge, brake status, and GPS position  Inspect transmitted video feeds and navigation sensor data  Control the UGV through local waypoint designation or direct teleoperation iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot Figure 9: Sentinel Tablet PC-based user interface 11 of 16 Figure 10: Two iRobot PackBots controlled by the Sentinel command interface The Sentinel command interface has been executed on a small form-factor Tablet PC hardware interface using a touch-screen interface, shown in Figure With this design, the operator can be mobile and actively interacting in the same environment as the deployed UGVs The Sentinel interface has been used in the control of multiple semi-autonomous iRobot PackBot UGVs, pictured in Figure 10 Nomadics Fido Explosives Sensor The Fido Portable Explosives Detector is the most sensitive, handheld explosives detector on the market—and it weighs less than three pounds Inspired by dogs, the gold standard in explosive detection, Fido screens packages, shipping containers, vehicles, facilities and people for traces of explosives Unlike current alternatives, the exquisite sensitivity of the Fido supports both particle and vapor detection, enabling previously unheard of applications for explosive detection technology Figure 11: Nomadics Fido Portable Explosives Detector iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot 12 of 16 Size and sensitivity set the Fido apart from the competition In side-by-side field operations, the performance of Fido is comparable to dogs, without the inconvenience of ever having an "off" day Fido can detect explosive vapor at levels as low as a few femtograms This means the sensor is a thousand times more sensitive than any of its nearest competitors This phenomenal sensitivity is housed in a device weighing less than three pounds The Fido is suitable for handheld, bench-top and robot mounted applications It is designed for ease of operation and provides the operator with real-time information The device provides a touch pad with clearly labeled keys and an LCD display Powering up the Fido typically takes less than three minutes Once in operation, sample results are displayed in real-time on the LCD screen or through an optional audio signal Actual detection of explosive materials occurs in the sensing element which has a reversible response allowing it to be reused many times After each target is analyzed, the Fido takes only seconds to baseline before sensing the next target Replacement of the sensing element and battery is simple and requires no tools The Nomadics Fido Explosive Detector has applications ranging from homeland security and force protection to humanitarian demining The world is a different place than it was even a few years ago Issues that had been given nominal importance then, have now become vital The importance of explosives detection units for baggage, mail and cargo must be met Interdicting the IED chain as well as building and personnel screening are serious challenges our military forces must meet everyday Fido meets these needs and goes further Figure 12: Fido sensor integrated with PackBot EOD The Fido explosives sensor has been integrated with three PackBot EOD robots (Figure 11) These robots have been deployed to Iraq where EOD teams are testing the robot’s ability to iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot 13 of 16 detect actual IEDs When integrated with a PackBot, the Fido sensor is powered directly from the PackBot power system, eliminating sensor battery life constraints SRI Coverage Planning SRI's coverage planning algorithms are encapsulated in a spatial reasoning system called Spare This system was developed during the SRI Centibots Project, under the DARPA Software for Distributed Robotics (SDR) program (Contract: NBCHC020073) Spare was successfully demonstrated as part of the final Centibots system, in which 100 robots were deployed to explore and secure large unknown environments [Ortiz et al 05] The Spare system combines a map of the environment with a mission specification to determine an allocation of spatial goals and particular behaviors to each robot Each mission is complex and exhibits a set of constraints For example, in the perimeter search mission, robots must exhaustively cover the area of interest while taking into account the limited range of their FIDO sensor Simultaneously, they must maintain a radio contact (possibly through relays) to the OCU Certain areas may require more attention (and thus more time) than others, which should also be taken into account during planning For instance, building perimeters and vehicles, as well as operator-designated zones of interest, will likely require finer search granularity than large open areas Spare optimizes the placement and behavior of the robots in order to maximize the overall multicriterion utility, taking into account factors such as distances between robots, energy usage, lineof-sight maintenance, and zones of special interest Because Spare can optimize across multiples constraints, the commander is able to adjust the relative importance of each constraint when specifying the mission Once the commander has defined the mission, solution generation proceeds in two phases First, Spare extracts an abstract discrete representation of the map Second, it uses optimization techniques to generate the best allocation of robots with respect to the abstract map and the mission constraints The allocation is then handed off to the robots for execution Idaho National Laboratory (INL) Intelligence Kernel The Idaho National Laboratory (INL) has developed an Intelligence Kernel architecture that has been ported to a wide variety of mobile robots [Pacis, et al 04] The Intelligence Kernel includes capabilities for path planning and obstacle avoidance as well as a graphical user interface that can be used to interact with multiple robots One application of this architecture has been in mine detection, and this system has been selected by the US Army for the Autonomous Robotic Countermine System (ARCS) project In one set of trials, a UGV and a UAV using the Intelligence Kernel were able to cooperate in a mine detection task, with the UAV identifying potential threats and the UGV moving in to examine iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot 14 of 16 those threats This system was able to locate the position of mines and display those positions on an aerial map of the terrain (Figure 13) During the Fireseeker Project we plan to integrate the Wayfarer urban navigation system with the INL Intelligence Kernel and graphical user interface This will allow multiple Fireseeker robots to display the position of suspected IEDs on a single Operator Control Unit (OCU) interface display, superimposed onto aerial or satellite imagery The terrain images may be provided from a pre-existing database or generated in real-time from UAVs Figure 13: Aerial map of mine locations generated by UAV/UGV team Integration of Wayfarer urban navigation capabilities with the INL Intelligence Kernel will also allow greater interoperation with other robots using this architecture These include systems developed by the Army Night Vision Laboratory (NVL), the Navy Space and Naval Warfare Systems Command (SPAWAR), NASA’s Johnson Space Center, and Carnegie Mellon University (CMU) This architecture fully supports the Joint Architecture for Unmanned Systems (JAUS) and will allow Fireseeker to interoperate with JAUS-compatible robots and OCUs Research and Development Plan Task 1: Wayfarer PackBot Platform (iRobot) iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot 15 of 16 For Task 1, iRobot will integrate two PackBot Scouts with ruggedized Wayfarer navigation payloads These robots will be used as the platforms for the research in this project Task 2: Fido Sensor Integration (iRobot/Nomadics) For Task 2, iRobot and Nomadics will integrate a Fido explosives sensor with a Wayfarer PackBot Previously, iRobot and Nomadics integrated Fido sensors with PackBot EOD robots These robots have been deployed to Iraq, and US soldiers are currently testing the ability of this system to detect IEDs in urban environments Task 3: IED Detection Behaviors (iRobot) For Task 3, iRobot will develop low-level reactive behaviors that serve as the foundation for effective IED-neutralization These behaviors include obstacle avoidance, navigating to a particular location while avoidance obstacles, with or without GPS, and navigating through an urban environment using Task 4: Coverage Planning Integration (iRobot/SRI) For Task 4, SRI will develop a version of their coverage planning system for the urban IED search task iRobot and SRI will implement a translator module to communicate between Aware and Player iRobot and SRI will then integrate the coverage planning system with the IED detection behaviors developed in Task At the end of Task 4, we will have a fully-operational Fireseeker prototype capable of searching for IEDs in an urban environment Task 5: Intelligence Kernel Integration (iRobot/INL) For Task 5, iRobot and INL will implement a translator module to communicate between Aware and the Intelligence Kernel iRobot and INL will then integrate the Intelligence Kernel with the IED search behaviors and the coverage planning system At the end of Task 5, Fireseeker will be able to integrate additional components from other research labs developed for the Intelligence Kernel Task 6: INL Graphical User Interface Integration (iRobot/INL/SRI) For Task 6, iRobot, INL, and SRI will integrate the graphical user interface (GUI) developed with the Intelligence Kernel with the Fireseeker robots and the coverage system The GUI will show the progress of the search along with the locations of all of the robots and any detected IEDs All of this data will be superimposed over an aerial map of the terrain iRobot Proprietary DOCUMENT NO FIR-01 REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot 16 of 16 At the end of Task 6, the Fireseeker robots will be controllable via the Intelligence Kernel GUI In addition, Fireseeker will be fully JAUS-compliant (including experimental messages, as necessary), and any JAUS OCU that supports the necessary messages will be able to control and task Fireseeker Estimated Schedule and Budget ID Task Nam e Wayfar er Pl atfor m IED Search Behavi or s Coverage Pl anni ng Integr ati on Intell i gence Ker nel Integrati on IK GUI Integrati on Qtr 2, 2006 Apr May Jun Qtr 3, 2006 Jul Aug Sep Qtr 4, 2006 Oct Nov Dec Qtr 1, 2007 Jan Feb Mar Qtr 2, 2007 Apr May Figure 14: Fireseeker Schedule Fireseeker is a 12-month project with a Rough Order of Magnitude (ROM) cost of $3M Figure 14 shows the overall schedule for the Fireseeker Project References [Pacis, et al 04] E B Pacis, H.R Everett, N Farrington, and D J Bruemmer, “Enhancing Functionality and Autonomy in Man-Portable Robots,” SPIE Defense and Security Symposium 2004, April 2004 [Ortiz et al 05] Charles L Ortiz, Regis Vincent, Benoit Morisset, “Task Inference and Distributed Task Management in the Centibots Robotic System,” Proceedings of the Third International Conference on Autonomous Agent and Multi-Agent System, 2005 [Vaughan et al 2003] Richard T Vaughan, Brian P Gerkey, and Andrew Howard “On Device Abstractions for Portable, Reusable Robot Code,” Proceedings of the IEEE International Conference on Intelligent Robots and Systems, volume 3, pages 2421–2427, October 2003 [Yamauchi 05] Brian Yamauchi, “Wayfarer: An Autonomous Navigation Payload for the PackBot,” Proceedings of AUVSI Unmanned Vehicles North America 2005, Baltimore, MD, June 2005 iRobot Proprietary Jun Q J ... REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot 13 of 16 detect actual IEDs When integrated with a PackBot, the Fido sensor is powered directly from the PackBot power system,... capabilities Each Fireseeker UGV is capable of performing a wide range of IED search missions including:   Perimeter Search  Search a building perimeter for IEDs and/or VBIEDs and mark their... REVISION 01 DESCRIPTION PAGE Fireseeker: Autonomous IED Search PackBot of 16 PackBot is 27 inches long, 16 inches wide, and inches tall, and weighs 40 pounds All of a PackBot? ??s electronics are enclosed

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