page_title: DARPA LAGR Program
section_title: The LAGR vehicle
hierarchical_section_title: DARPA LAGR Program / The LAGR vehicle
caption_attribution_description: English: LAGR Robot: One of about 30 such vehicles built for the DARPA LAGR program which ran from 2004-2008. The vehicle is about 1 meter high and weighs about 100kg. Its primary perception sensors are two pairs of stereo cameras.
context_page_description: The Learning Applied to Ground Vehicles program, which ran from 2004 until 2008, had the goal of accelerating progress in autonomous, perception-based, off-road navigation in robotic unmanned ground vehicles. LAGR was funded by DARPA, a research agency of the United States Department of Defense.
context_section_description: The LAGR vehicle, which was about the size of a supermarket shopping cart, was designed to be simple to control. (A companion DARPA program, Learning Locomotion, addressed complex motor control.) It was battery powered and had two independently driven wheelchair motors in the front, and two caster wheels in the rear.  When the front wheels were rotated in the same direction the robot was driven either forward or reverse. When these wheels were driven in opposite directions, the robot turned.
  The ~ $30,000 cost of the LAGR vehicle meant that a fleet could be built and distributed to a number of teams expanding on the field of researchers who had traditionally participated in DARPA robotics programs. The vehicle's top speed of about 3 miles/ hour and relatively modest weight of ~100 kg meant that it posed a much reduced safety hazard compared to vehicles used in previous programs in unmanned ground vehicles and thus further reduced the budget required for each team to manage its robot.
  Nevertheless, the LAGR vehicles were sophisticated machines. Their sensor suite included 2 pairs of stereo cameras, an accelerometer, a bumper sensor, wheel encoders, and a GPS. The vehicle also had three computers that were user-programmable.
caption: The LAGR Vehicle. About 30 were produced. They were about 1 meter high and weighed about 100 kg.
exif: {"Image Orientation": "Horizontal (normal)", "Image XResolution": "72", "Image YResolution": "72", "Image ResolutionUnit": "Pixels/Inch", "Image Software": "Adobe Photoshop CS5 Windows", "Image DateTime": "2012:01:28 17:30:15", "Image ExifOffset": "164", "Thumbnail Compression": "JPEG (old-style)", "Thumbnail XResolution": "72", "Thumbnail YResolution": "72", "Thumbnail ResolutionUnit": "Pixels/Inch", "Thumbnail JPEGInterchangeFormat": "302", "Thumbnail JPEGInterchangeFormatLength": "10514", "EXIF ColorSpace": "sRGB", "EXIF ExifImageWidth": "236", "EXIF ExifImageLength": "201"}