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dc.contributor.authorArkin, Ronald C.
dc.contributor.authorEndo, Yoichiro
dc.contributor.authorChaimowicz, Luiz
dc.contributor.authorCowley, Anthony
dc.contributor.authorGrocholsky, Ben
dc.contributor.authorHsieh, Mong-ying A.
dc.contributor.authorJung, Boyoon
dc.contributor.authorKeller, James F.
dc.contributor.authorKumar, Vijay
dc.contributor.authorMacKenzie, Douglas Christopher
dc.contributor.authorSukhatme, Gaurav S.
dc.contributor.authorTaylor, Camillo J.
dc.contributor.authorWolf, Denis F.
dc.identifier.citationMong-ying A. Hsieh, et al. "Adaptive Teams of Autonomous Aerial and Ground Robots for Situational Awareness." Journal of Field Robotics 24.11 (2007): 991–1014en_US
dc.descriptionThis is a preprint of an article accepted for publication in the Journal of Field Robotics, copyright 2007. Journal of Field Robotics 24(11), 991–1014 (2007) © 2007 Wiley Periodicals, Inc. Published online in Wiley InterScience ( DOI: 10.1002/rob.202222en_US
dc.description.abstractIn this paper, we report on the integration challenges of the various component technologies developed towards the establishment of a framework for deploying an adaptive system of heterogeneous robots for urban surveillance. In our integrated experiment and demonstration, aerial robots generate maps that are used to design navigation controllers and plan missions for the team. A team of ground robots constructs a radio signal strength map that is used as an aid for planning missions. Multiple robots establish a mobile, ad-hoc communication network that is aware of the radio signal strength between nodes and can adapt to changing conditions to maintain connectivity. Finally, the team of aerial and ground robots is able to monitor a small village, and search for and localize human targets by the color of the uniform, while ensuring that the information from the team is available to a remotely located human operator. The key component technologies and contributions include (a) mission speci cation and planning software; (b) exploration and mapping of radio signal strengths in an urban environment; (c) programming abstractions and composition of controllers for multi-robot deployment; (d) cooperative control strategies for search, identi cation, and localization of targets; and (e) three-dimensional mapping in an urban setting.en_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectAerial robotsen_US
dc.subjectGround robotsen_US
dc.subjectNavigation controlleren_US
dc.subjectUrban surveillanceen_US
dc.titleAdaptive Teams of Autonomous Aerial and Ground Robots for Situational Awarenessen_US
dc.contributor.corporatenameGeorgia Institute of Technology. College of Computing
dc.contributor.corporatenameGeorgia Institute of Technology. Mobile Robot Laboratory
dc.contributor.corporatenameMobile Intelligence Corporation
dc.contributor.corporatenameUniversity of Pennsylvania. GRASP Laboratory
dc.contributor.corporatenameUniversity of Southern California. Center for Robotics and Embedded Systems
dc.contributor.corporatenameUniversity of Southern California. Robotic Embedded Systems Laboratory

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  • Mobile Robot Laboratory [187]
    Papers, pre/post-prints, and presentations by faculty and students in the Georgia Tech Mobile Robot Laboratory.
  • Mobile Robot Laboratory Publications [187]
    Papers, pre/post-prints, and presentations by faculty and students in the Georgia Tech Mobile Robot Laboratory.

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