Adaptive Teams of Autonomous Aerial and Ground Robots for Situational Awareness

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Title: Adaptive Teams of Autonomous Aerial and Ground Robots for Situational Awareness
Author: Arkin, Ronald C. ; Endo, Yoichiro ; Chaimowicz, Luiz ; Cowley, Anthony ; Grocholsky, Ben ; Hsieh, Mong-ying A. ; Jung, Boyoon ; Keller, James F. ; Kumar, Vijay ; MacKenzie, Douglas Christopher ; Sukhatme, Gaurav S. ; Taylor, Camillo J. ; Wolf, Denis F.
Abstract: In 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.
Description: This 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.202222
Type: Paper
Citation: Mong-ying A. Hsieh, et al. "Adaptive Teams of Autonomous Aerial and Ground Robots for Situational Awareness." Journal of Field Robotics 24.11 (2007): 991–1014
Date: 2007
Contributor: Georgia Institute of Technology. College of Computing
Georgia Institute of Technology. Mobile Robot Laboratory
Mobile Intelligence Corporation
University of Pennsylvania. GRASP Laboratory
University of Southern California. Center for Robotics and Embedded Systems
University of Southern California. Robotic Embedded Systems Laboratory
Publisher: Georgia Institute of Technology
Subject: Aerial robots
Ground robots
Navigation controller
Urban surveillance

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