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There is a strong demand for efficient explosive detecting devices and deployment methods in the field. In this study we
present a prototype mast that uses a telescoping pulley system for optimal performance on top of an unmanned ground
vehicle to be able to be controlled wirelessly. The mast and payload reaches up eight feet from the platform with a
gripper that can pick up objects. The current mobile platform operators using a remote-control devices to move the arm
and the robot itself from a safe distance away. It is equipped with a pulley system that can also be used to extend a
camera or explosive detection sensor under a vehicle. The mast is outfitted with sensors. The simple master-slave
strategy will not be sufficient as the navigation and sensory inputs will become complex. In this paper we provide a
tested software/hardware framework that allows a mobile platform and the expanded arm to offload operator tasks to
autonomous behaviors while maintaining tele-operations. This will implement semi-autonomous behaviors. This
architecture involves a server which communicates commands and receives sensor inputs via a wireless modem to the
mobile platform. This server can take requests from multiple client processes which have prioritized access to on-board
sensor readings and can command the steering. The clients would include the tele-operation soldier unit, and any number
of other autonomous behaviors linked to particular sensor information or triggered by the operator. For instance, the
behavior of certain tasks can be controlled by low-latency clients with sensory information to prevent collisions, place
sensor pods precisely, return to preplanned positions, home the units location or even perform image enhancements or
object recognition on streamed video.
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