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

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/21346

Title: The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue
Author: Alegre, Fernando ; Balch, Tucker ; Berhault, Marc ; Dellaert, Frank ; Kaess, Michael ; McGuire, Robert ; Merrill, Ernest ; Moshkina, Lilia ; Ravichandran, Ram ; Walker, Daniel
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
Date: 2002
Contributor: Georgia Institute of Technology. College of Computing
Publisher: Georgia Institute of Technology
Subject: Autonomy
Robot teams
Search and rescue robots

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