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

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Author(s)
Dellaert, Frank
Balch, Tucker
Kaess, Michael
Ravichandran, Ram
Alegre, Fernando
Berhault, Marc
McGuire, Robert
Merrill, Ernest
Moshkina, Lilia
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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2002
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