The proposed Hermes system combines multiple TRL9 technologies currently in operation within the U.S. Army and DoD into a highly capable obstacle detection and avoidance system for tethered UAS and ground vehicles. The Hermes system leverages a TRL9 obstacle detection and 3D mapping system in use for manned helicopters operating in degraded visual environments to guide the algorithm and sensor selection to create a high-assurance 3D world model at long ranges to allow the tethered UAS sufficient time to mitigate the detected obstacles. Obstacle avoidance and path planning approaches are informed by TRL9 autonomous control and planning capabilities developed for manned and unmanned aerial systems; to include multiple collaborative aerial systems connected by a tether analog. These TRL9 technologies will be used to inform the selection of sensors and guide the software and sensor architecture to meet the requirements of the tactical environment. Developing the architecture of the Hermes system will leverages the teamâs vast expertise in developing sensor and software systems for airborne systems, airborne control of multiple interconnected systems, modular/open software architecture, data assurance, artificial intelligence, manned-unmanned teaming/collaborative robotics, and machine learning. These efforts will also be supported by the teamâs working knowledge of ROS/ROS2 to align with the Phase 2 simulation environment and their experience developing open system hardware and software solutions for the DoD for Phase 3 and beyond. This collection of knowledge and experiences drastically reduces the risk associated with the development of the Hermes obstacle detection and avoidance system for tethered UAS and ground vehicle syst
