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/1853/38673

Title: The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue
Author: Dellaert, Frank ; Balch, Tucker ; Kaess, Michael ; Ravichandran, Ram ; Alegre, Fernando ; Berhault, Marc ; McGuire, Robert ; Merrill, Ernest ; Moshkina, Lilia ; 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.
Description: ©2002. American Association for Artificial Intelligence. The original publication is available at: www.aaai.org Presented at the AAAI Mobile Robot Competition Workshop (AAAI-02), 28 July-1 August 2002 in Edmonton, Alberta, Canada.
Type: Proceedings
URI: http://hdl.handle.net/1853/38673
Citation: Dellaert, F., Balch, T., Kaess, M., Ravichandran, R., Alegre, F., Berhault, M., McGuire, R., Merrill, E., Moshkina, L., & Walker, D. (2002). The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue. AAAI Mobile Robot Competition Workshop (AAAI-02), 28 July-1 August 2002.
Date: 2002
Contributor: Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Georgia Institute of Technology. College of Computing
Publisher: Georgia Institute of Technology
AAAI Press
Subject: Autonomy
Robot teams
Search and rescue robots

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