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

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Date
2002Author
Alegre, Fernando
Balch, Tucker
Berhault, Marc
Dellaert, Frank
Kaess, Michael
McGuire, Robert
Merrill, Ernest
Moshkina, Lilia
Ravichandran, Ram
Walker, Daniel
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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.