(Georgia Institute of Technology, 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.