View source for TerraMax

{{short description|Trademark for autonomous/unmanned ground vehicle technology}}
[[Image:TerraMax 2 hr.jpg|thumb|An Oshkosh 4x4 MTVR fitted with TerraMax autonomous technology; this vehicle had previously participated in 2007 DARPA Grand Challenge.]]
'''TerraMax''' is the trademark for [[Autonomous car|autonomous]]/[[unmanned ground vehicle]] technology developed by [[Oshkosh Corporation|Oshkosh Defense]].<ref name="TerraMax">{{cite web |url=http://oshkoshdefense.com/technology-1/unmanned-ground-vehicle/#overview|title=WHEN YOU'D RATHER NOT SEND ANYONE|date=11 February 2013 |publisher=Oshkosh Defense|accessdate=2016-02-24}}</ref>  Primary military uses for the technology are seen as [[reconnaissance]] missions and freight transport in high-risk areas without the need of human operators, protecting the soldiers from possible attacks, [[ambushes]] or the threat of mines and [[Improvised explosive device|IEDs]].<ref name="TerraMax"/> The technology could also be used in civilian settings, such as autonomous [[Snow removal|snow clearing]] at airports.<ref name="Detecting roadside bombs">{{cite magazine |url=https://www.wired.com/2014/06/oshkosh-autonomous-minesweeping/|title=TerraMax|magazine=Wired |publisher=wired.com|accessdate=2016-02-24|last1=Golson |first1=Jordan }}</ref>

The original TerraMax vehicle was based on Oshkosh’s 6x6 [[Medium Tactical Vehicle Replacement]] (MTVR) and this was entered in the 2004 and 2005 [[DARPA]] Grand Challenges.<ref name="DARPA GRAND CHALLENGE">{{cite web |url=http://oshkoshdefense.com/events/darpa-grand-challenge/|title=Team Oshkosh TerraMax Media Fact Sheet|publisher=Oshkosh Defense|accessdate=2016-02-24}}</ref> A 4x4 variant was subsequently developed for, and entered in, the 2007 [[DARPA]] Urban Challenge.<ref name="DARPA URBAN CHALLENGE">{{cite web |url=http://oshkoshdefense.com/events/darpa-urban-challenge/|title=DARPA Urban Challenge|publisher=Oshkosh Defense|accessdate=2016-02-24}}</ref> Since then, Oshkosh has continued developing the technology and in addition to four MTVRs  has fitted the technology to its [[Palletized Load System]] (PLS),<ref name="Oshkosh Truck Unveils Next Generation of Unmanned Defense Logistics Vehicle">{{cite web |url=http://oshkoshdefense.com/news/oshkosh-truck-unveils-next-generation-of-unmanned-defense-logistics-vehicle/|title=Oshkosh Truck Unveils Next Generation of Unmanned Defense Logistics Vehicle|date=23 January 2006 |publisher=Oshkosh|accessdate=2016-02-24}}</ref> [[Family of Medium Tactical Vehicles]] (FMTV).<ref name="TerraMax UGV"/> and [[Oshkosh M-ATV|MRAP All Terrain Vehicle (M-ATV)]].<ref name="Detecting roadside bombs"/>

==Development and history==
Oshkosh actively commenced development of the TerraMax in mid-2003.  In the [[DARPA Grand Challenge (2004)|2004 DARPA Grand Challenge]] (March 13–14, 2004) Team TerraMax was one of only seven teams to successfully navigate the qualifying course, going on to manage 1.2 miles on the race course before being ‘confronted’ by an impassable bush. The 2004 Team TerraMax consisted of Oshkosh Truck (now Oshkosh Defense), [[University of Parma]]'s Artificial Vision and Intelligent Systems Laboratory ([[VisLab]]), [[Teledyne Technologies|Teledyne Scientific Company]], [[Auburn University]], IBEO and [[Caterpillar Inc.|Caterpillar]]. 
At the time, Don Verhoff, [[Oshkosh Corporation|Oshkosh's]] executive vice president of technology explained that: "although design development may continue for years, the idea of a driverless convoy of defense vehicles to deliver supplies to the front line, never jeopardizing the welfare of a single driver, is closer than one might imagine."

In October 2005 a second-generation TerraMax was one of five vehicles to complete the [[DARPA Grand Challenge (2005)|2005 DARPA Grand Challenge]] 132-mile desert course. Unofficial run time was 12 hours and 51 minutes, this outside of the 10-hour limit to qualify for the $2 million prize money. The 2005 Team TerraMax consisted of Oshkosh Truck, [[Rockwell Collins]], University of Parma's Artificial Vision and Intelligent Systems Laboratory ([[VisLab]]) and several financial sponsors.

Continuing development of TerraMax technologies, in January 2006 Oshkosh unveiled an unmanned version of its [[Palletized Load System]] (PLS) truck at the U.S. Army Tactical Wheeled Vehicle Component Technology Demonstrations in [[Yuma, Arizona|Yuma]], Arizona. East.<ref name="Driverless TerraMax completes DARPA Grand Challenge">{{cite web |url=https://janes.ihs.com/Janes/Display/1104931|title=Driverless TerraMax completes DARPA Grand Challenge|publisher=International Defence Digest (IHS Jane's)|date=2005-10-18|accessdate=2016-02-25}}</ref>

In 2007 Team TerraMax competed in the [[DARPA Grand Challenge (2007)|DARPA Urban Challenge]] with a 4x4 MTVR.
In June 2010, Oshkosh Defense was awarded the U.S. Marine Corps Cargo UGV (CUGV) initiative contract. The contract was awarded by [[United States Marine Corps|US Marine Corps]] Warfighting Laboratory ([[United States Marine Corps Warfighting Laboratory|MCWL]]) and the Joint Ground Robotics Enterprise Robotics Technology Consortium. The first evaluation for the cargo UGV was completed in May 2011 at [[Fort Pickett]].<ref name="TerraMax UGV">{{cite web |url=https://janes.ihs.com/Janes/Display/1495426|title=TerraMax Large wheeled logistics UGV|publisher=IHS Jane's|date=2015-11-19|accessdate=2016-02-25}}</ref>

In October 2010 at the [[Association of the United States Army]] (AUSA) Annual Meeting and Exposition at the [[Washington Convention Center]], Oshkosh displayed an [[Family of Medium Tactical Vehicles|FMTV]] Load Handling System (LHS) variant fitted with TerraMax technology.

In May 2014 Oshkosh announced that to demonstrate capabilities for [[Route clearance (IEDs)|route-clearance]] missions it had integrated its TerraMax [[unmanned ground vehicle]] (UGV) technology onto an Oshkosh [[Oshkosh M-ATV|MRAP All-Terrain Vehicle (M-ATV)]]. The vehicle was demonstrated in June 2014 at the [[Eurosatory]] defence exhibition in [[Paris]] where it was equipped with a [[mine roller]] and autonomously navigated a course that simulated military [[Route clearance (IEDs)|route clearance]] missions.<ref name="TerraMax route clearence product sheet">{{cite web |url=http://oshkoshdefense.com/components/terramax/#lit|title=TerraMax route clearance product sheet|publisher=Oshkosh Defense|accessdate=2016-02-25}}</ref>

The company was awarded a contract to evaluate the CUGV as a route clearing UGV, an effort that saw three vehicles working together. The trials took place at [[Fort A.P. Hill]], [[Virginia]], in April 2015.<ref name="TerraMax UGV"/> Also in 2015, the US Army worked on requirements documentation for the introduction of leader-follower technology for the Oshkosh 10×10 PLS logistics and support vehicles, which would be used initially as a driver safety mechanism for functions such as braking.
In 2016, TerraMax-equipped vehicles took part in the Autonomous Ground Resupply Programme. Under the programme, the vehicles were expected to demonstrate the carrying of cargo from the point of embarkation to a forward-operating base (FOB) and then to a patrol base.

===Other autonomous projects===
[[File:TerraMax.jpg|thumb|right|Oshkosh received USD49 million to integrate autonomous technology onto PLS vehicles as part of the ExLF programme.]]
Oshkosh is also involved in a number of other autonomous vehicle projects in conjunction with partners that include [[United States Army Tank Automotive Research, Development and Engineering Center|TARDEC]], [[Lockheed Martin]], Robotic Research, and DCS.

In 2016, Oshkosh PLS vehicles took part in the Autonomous Ground Resupply Programme. Under the programme, the vehicles were expected to demonstrate the carrying of cargo from the point of embarkation to a forward-operating base (FOB) and then to a patrol base.
 
On 27 June 2018, as part of the [[Expedient Leader Follower (]]ExLF) programme, Oshkosh received USD49 million to integrate its autonomous technology onto [[Palletized load system|PLS]] vehicles. The TARDEC-led programme was awarded through an Other Transaction Authority (OTA) contract and is intended to facilitate the transition to an official [[Program of Record]]. The programme is expected to last until the end of its contract term in March 2021.

In early 2019, a fleet of ten vehicles was outfitted with autonomous technology and subjected to government qualification and safety evaluations. This initial phase was succeeded by the integration of autonomous technology into an additional sixty vehicles, which were then slated for participation in an [[Operational Technical Demonstration]] (OTD) in early 2020.

Oshkosh began integrating an initial 10 autonomy kits upon the award for the engineering test, verification, validation, and ATEC Safety Release, and will integrate another 60 kits for fiscal year 2019 for OTDs. The OTDs will occur in the second quarter of fiscal year 2020. The contract holds an option to procure up to 150 autonomy kits.<ref name="TerraMax August 2018">{{cite web |url=https://janes.ihs.com/Janes/Display/jugv0277-jlsu|title=TerraMax August 2018 update|publisher=IHS Jane'|date=2018-09-21|accessdate=2018-11-12}}</ref>

==Technology==
TerraMax Unmanned Ground Vehicle (UGV) technology is [[modularity|modular]] and designed to be integrated into any tactical wheeled vehicle. The components of TerraMax are located so as not to impede the combat requirements of soldiers, while maintaining the utility of the vehicle. The technology is fully incorporated into the brakes, steering, engine and transmission. Fitted vehicles retain the ability to be driver-operated. Fitted vehicles can be operated fully autonomously in any position in a [[convoy]], or semi-autonomously to follow the path of the lead vehicle.<ref name="TerraMax overview product sheet">{{cite web |url=http://oshkoshdefense.com/components/terramax/#lit|title=TerraMax overview product sheet|publisher=Oshkosh Defense|accessdate=2016-02-25}}</ref>

The TerraMax UGV package consists of Oshkosh’s Command Zone electronics, a sensor suite and an advanced operator control unit (OCU).<ref name="TerraMax"/>

Command Zone is an integrated control and [[diagnosis|diagnostics]] system that is computer-controlled, electronics technology that operates and diagnoses all major vehicle networks. The backbone of the Command Zone system is advanced [[multiplexing]] technology.<ref name="TerraMax"/>

The multimodal [[sensor]] suite consists of a high definition [[LIDAR]]<ref name="Forward roll: the next generation of route clearance">{{cite web |url=https://janes.ihs.com/Janes/Display/1495426|title=LIDAR|publisher=IHS Jane's IDR|date=2013-11-04|accessdate=2016-02-25}}</ref>  (light detection and ranging) system, a wide dynamic range camera, a short wave [[infrared]] camera, four situational awareness cameras, 12 short range [[radar]] systems (providing 360° close-view) and three long range radar systems. The military grade global navigation satellite system (GNSS) along with map registration software technology ensures the operation of the system without a satellite signal where a [[global positioning system]] (GPS) navigation system is blocked or denied.<ref name="TerraMax"/>

The vehicle mounted with TerraMax UGV technology is autonomously controlled by an operator control unit (OCU). It enables the operators to manipulate route information and look out or manage internal operations and status of autonomous systems over tactical data links. The tele-operated OCU shows the necessary information according to the priority and facilitates the fast input of commands to maintain the pace in convoy operations. The screen of OCU displays overhead imagery, automated routes and driving parameters. It gives feedback if it identifies an obstacle to continue, or changes track accordingly. The OCU allows a single operator to control one or more UGVs. The operator can control an UGV with infrequent monitoring of the unit.<ref name="TerraMax"/><ref name="Oshkosh TerraMax Unmanned Ground Vehicle Technology, United States of America">{{cite web |url=http://www.army-technology.com/projects/oshkosh-terramax-unmanned-ground-vehicle/|title=Oshkosh TerraMax Unmanned Ground Vehicle Technology, United States of America|publisher=army-technology.com|accessdate=2016-02-25}}</ref>{{Unreliable source?|reason=domain on WP:BLACKLIST|date=June 2016}}

From an earlier statement that it desired one third of its fleet to be autonomous by 2015, the [[United States Army|U.S. Army]] now believes that the technology for autonomous vehicles may be ready for the field by 2025. At an AUVSI symposium in [[Arlington, Virginia]] in October 2015, Dr Paul Rogers, director of the army's [[United States Army Tank Automotive Research, Development and Engineering Center|Tank Automotive Research Development and Engineering Center]] (TARDEC), said "Autonomous convoy technology for the US army remains about 10 years away, depending on how the acquisition process moves, due to requirements, testing, and [[budget]]ing processes."<ref name="Autonomous convoy tech still years away from US Army fielding">{{cite web |url=https://janes.ihs.com/Janes/Display/1755521|title=Autonomous convoy tech still years away from US Army fielding|publisher=IHS Jane's|date=2015-10-29|accessdate=2016-02-25}}</ref>

==Television==
The TerraMax was featured in Series 19 of [[BBC]] Television series ''[[Top Gear (2002 TV series)|Top Gear]]''. It was featured against presenter [[James May]] in the [[Range Rover]] in an off-road challenge in the Nevada Automotive Test Center, Nevada, USA.<ref>{{Cite episode |title=Episode 5 |series=Top Gear |series-link=Top Gear (series 19) |number=5 |url=https://www.bbc.co.uk/iplayer/episode/b01r2ckq/top-gear-series-19-episode-5 |series-no=19}} (Partially available through YouTube at: [https://www.youtube.com/watch?v=1pl_Pont_Zk "TOP GEAR's Driverless Truck: March 4 BBC AMERICA"] and [https://www.youtube.com/watch?v=jV51BGIzkwU "'Terminator' Vs Range Rover | Top Gear | Series 19"])</ref>

== Gallery ==
<gallery widths="240px" heights="200px">
File:DARPA-2005.jpg|MTVR 6x6 participating in the DARPA 2005 Grand Challenge
File:Terramax-DARPAChallenge04.jpg|TerraMax at the [[DARPA Grand Challenge#2004 Grand Challenge|2004 DARPA Grand Challenge]]
File:MTVR with TerraMax.jpg|MTVR with TerraMax
File:TerraMax Op control unit.jpg|Operator Control Unit and Interface for TerraMax
File:M-ATV with TerraMax.jpg|M-ATV (with mine roller attachment) with TerraMax
File:M-ATV with TerraMax callouts desert.jpg|In convoy, an M-ATV with mine roller attachment) and two MTVRs with TerraMax. The third MTVR is manned.
</gallery>

==See also==
*Oshkosh [[Medium Tactical Vehicle Replacement]] (MTVR)
*[[Oshkosh M-ATV]]
*[[Oshkosh Corporation]]
*[[Palletized Load System]]
*[[Unmanned ground vehicle]]
*[[Vehicular automation]]
*[[Autonomous logistics]]
*[[DARPA Grand Challenge]]
*[[Top Gear (series 19)]] (TerraMax vs. Range Rover)

{{Portal|Cars}}

==References==
{{reflist}}

==External links==
{{commons|Oshkosh Corporation}}
{{commons|Terramax}}
*[http://oshkoshdefense.com/components/terramax/ TerraMax page (Oshkosh Defense)]
*[https://www.youtube.com/watch?v=O0crVya4yfI/ Interview on Oshkosh autonomous programs (IHS Jane's)]
*[https://www.youtube.com/watch?v=yqPUH5SwY54/ Oshkosh TerraMax™ Autonomous Vehicle System (Armyreco)]
*[https://web.archive.org/web/20160301061932/http://www.oshkoshcorporation.com/about/tech_innovations~terramax.html TerraMax (Oshkosh Corporation)]
*[https://www.youtube.com/watch?v=jV51BGIzkwU/ TerraMax Top Gear (factual & interesting)]
*[http://www.terramax.com Team TerraMax home page] {{Webarchive|url=https://web.archive.org/web/20090506221415/http://www.terramax.com/ |date=2009-05-06 }}
*[http://www.vislab.it VisLab home page]
*[http://vimeo.com/47170669 TerraMax UGV Video on Vimeo]
{{Oshkosh Corporation}}

[[Category:Unmanned ground vehicles]]
[[Category:University of Parma]]
[[Category:Oshkosh vehicles]]
[[Category:DARPA Grand Challenge]]
[[Category:Experimental self-driving cars]]