Person:
Dellaert,
Frank
Dellaert,
Frank
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ItemIntrinsic Localization and Mapping With 2 Applications: Diffusion Mapping and Marco Polo Localization(Georgia Institute of Technology, 2003) Alegre, Fernando ; Dellaert, Frank ; Martinson, Eric BeowulfWe investigate Intrinsic Localization and Mapping (ILM) for teams of mobile robots, a multi-robot variant of SLAM where the robots themselves are used as landmarks. We develop what is essentially a straightforward application of Bayesian estimation to the problem, and present two complimentary views on the associated optimization problem that provide insight into the problem and allows one to devise initialization strategies, indispensable in practice. We also provide a discussion of the degrees of freedom and ambiguities in the solution. Finally, we introduce two applications of ILM that bring out its potential: Diffusion Mapping and Marco Polo localization.
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ItemThe Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue(Georgia Institute of Technology, 2002) Alegre, Fernando ; Balch, Tucker ; Berhault, Marc ; Dellaert, Frank ; Kaess, Michael ; McGuire, Robert ; Merrill, Ernest ; Moshkina, Lilia ; Ravichandran, Ram ; Walker, DanielWe 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.