(Georgia Institute of Technology, 2002)
Dellaert, Frank; Stroupe, Ashley W.
We show how to recover 2D structure and motion linearly
in order to initialize Simultaneous Mapping and Localization
(SLAM) for bearings-only measurements and planar motion.
The method supplies a good initial estimate of the geometry,
even without odometry or in multiple robot scenarios. Hence,
it substantially enlarges the scope in which non-linear batch-type
SLAM algorithms can be applied. The method is applicable
when at least seven landmarks are seen from three different
vantage points, whether by one robot that moves over time or
by multiple robots that observe a set of common landmarks.
(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.