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Mobile Robot Laboratory Publications >
Please use this identifier to cite or link to this item:
http://hdl.handle.net/1853/21346
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| Title: | The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue |
| Authors: | Alegre, Fernando
Balch, Tucker
Berhault, Marc
Dellaert, Frank
Kaess, Michael
McGuire, Robert
Merrill, Ernest
Moshkina, Lilia
Ravichandran, Ram
Walker, Daniel
Georgia Institute of Technology. College of Computing |
| Subjects : | Autonomy
Robot teams
Search and rescue robots |
| Issue Date: | 2002 |
| Publisher: | Georgia Institute of Technology |
| Abstract: | We describe our entry in the AAAI 2002 Urban Search and
Rescue (USAR) competition, a marsupial team consisting of
a larger wheeled robot and several small legged robots, carried
around by the larger robot. This setup exploits complimentary
strengths of each robot type in a challenging domain.
We describe both the hardware and software architecture, and
the on-board real-time mapping which forms the basis of accurate
victim-localization crucial to the USAR domain. We
also evaluate what challenges remain to be resolved in order
to deploy search and rescue robots in realistic scenarios. |
| Type: | Paper |
| URI: | http://hdl.handle.net/1853/21346 |
| Appears in Collections: | Mobile Robot Laboratory Publications
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