The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue
Frank Dellaert, Tucker Balch, Michael Kaess, Ram Ravichandran, Fernando Alegre, M. Berhault, Patrick McGuire, Ernest Merrill, Lilia Moshkina, Daniel Walker
- Year
- 2002
- Citations
- 17
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, car-ried around by the larger robot. This setup exploits compli-mentary 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 ac-curate 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.
Keywords
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