Homer is one of two ATRV Jr mobile robots used by the group.
This video shows Homer outfitted with a 77GHz imaging radar. This has a range of 400m, and captures 360 degree data at 2Hz.
The vehicle also provides odometry from wheel encoders, collision avoidance from sonar, and GPS for ground truth. The vehicle can optionally be powered from a mobile petrol generator for prolonged field operation.