Title:
The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue
The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue
Author(s)
Alegre, Fernando
Balch, Tucker
Berhault, Marc
Dellaert, Frank
Kaess, Michael
McGuire, Robert
Merrill, Ernest
Moshkina, Lilia
Ravichandran, Ram
Walker, Daniel
Balch, Tucker
Berhault, Marc
Dellaert, Frank
Kaess, Michael
McGuire, Robert
Merrill, Ernest
Moshkina, Lilia
Ravichandran, Ram
Walker, Daniel
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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.
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Date Issued
2002
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Resource Type
Text
Resource Subtype
Paper