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    The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue

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    Dellaert-rescue.pdf (445.4Kb)
    Date
    2002
    Author
    Alegre, Fernando
    Balch, Tucker
    Berhault, Marc
    Dellaert, Frank
    Kaess, Michael
    McGuire, Robert
    Merrill, Ernest
    Moshkina, Lilia
    Ravichandran, Ram
    Walker, Daniel
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    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.
    URI
    http://hdl.handle.net/1853/21346
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    • Mobile Robot Laboratory [187]
    • Mobile Robot Laboratory Publications [187]

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