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Mobile Robot Laboratory

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Author: Alegre, Fernando × Author: Balch, Tucker × Has files: Yes ×

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

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

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.

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