The LAGR robot includes three 2.0 GHz Pentium-M computers,
stereo cameras, IR rangefinders, GPS, IMU, encoders, wireless
communications link, and operator control unit. NREC
ported its PerceptOR software to the platform to provide
baseline autonomous capability.
Communications tools include Gigabit Ethernet for on-board
communication; a wireless (802.11b) Ethernet communications
link; remote monitoring software that can be run on a
laptop; and a standalone radio frequency remote.
The user can log data on the robot in three different
modes: teleoperation using the RF remote; teleoperation
from the onboard computer system (OCS); and during autonomous
With each robot, NREC ships a comprehensive user manual
that documents robot capability, baseline autonomy software,
and APIs (with examples) that enable developers to easily
interface robot sensor data to their perception and planning