Michael Kaess
Center for Robotics and Intelligent Machines, Georgia Tech GT CoC IC GVU RIM@GT BORG

please see my MIT page for up-to-date information

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

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“The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue” by F. Dellaert, T. Balch, M. Kaess, R. Ravichandran, F. Alegre, M. Berhault, R. McGuire, E. Merrill, L. Moshkina, and D. Walker. In AAAI Mobile Robot Competition, (Edmonton, Alberta, Canada), 2002, pp. 44-49.


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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BibTeX entry:

   author = {F. Dellaert and T. Balch and M. Kaess and R. Ravichandran and
	F. Alegre and M. Berhault and R. McGuire and E. Merrill and L.
	Moshkina and D. Walker},
   title = {The {Georgia} {Tech} {Y}ellow {J}ackets: A Marsupial Team for
	Urban Search and Rescue},
   booktitle = {AAAI Mobile Robot Competition},
   pages = {44-49},
   publisher = {AAAI Press},
   address = {Edmonton, Alberta, Canada},
   year = {2002},
   isbn = {1-57735-176-2}