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Progress toward multi‐robot reconnaissance and the MAGIC 2010 competition

dc.contributor.authorHsieh, Anien_US
dc.contributor.authorLacroix, Simonen_US
dc.date.accessioned2012-09-05T14:46:05Z
dc.date.available2013-10-18T17:47:29Zen_US
dc.date.issued2012-09en_US
dc.identifier.citationHsieh, Ani; Lacroix, Simon (2012). "Progress toward multi‐robot reconnaissance and the MAGIC 2010 competition." Journal of Field Robotics 29(5): 762-792. <http://hdl.handle.net/2027.42/93532>en_US
dc.identifier.issn1556-4959en_US
dc.identifier.issn1556-4967en_US
dc.identifier.urihttps://hdl.handle.net/2027.42/93532
dc.description.abstractTasks like search‐and‐rescue and urban reconnaissance benefit from large numbers of robots working together, but high levels of autonomy are needed to reduce operator requirements to practical levels. Reducing the reliance of such systems on human operators presents a number of technical challenges, including automatic task allocation, global state and map estimation, robot perception, path planning, communications, and human‐robot interfaces. This paper describes our 14‐robot team, which won the MAGIC 2010 competition. It was designed to perform urban reconnaissance missions. In the paper, we describe a variety of autonomous systems that require minimal human effort to control a large number of autonomously exploring robots. Maintaining a consistent global map, which is essential for autonomous planning and for giving humans situational awareness, required the development of fast loop‐closing, map optimization, and communications algorithms. Key to our approach was a decoupled centralized planning architecture that allowed individual robots to execute tasks myopically, but whose behavior was coordinated centrally. We will describe technical contributions throughout our system that played a significant role in its performance. We will also present results from our system both from the competition and from subsequent quantitative evaluations, pointing out areas in which the system performed well and where interesting research problems remain. © 2012 Wiley Periodicals, Inc.en_US
dc.publisherWiley Subscription Services, Inc., A Wiley Companyen_US
dc.titleProgress toward multi‐robot reconnaissance and the MAGIC 2010 competitionen_US
dc.typeArticleen_US
dc.rights.robotsIndexNoFollowen_US
dc.subject.hlbsecondlevelComputer Scienceen_US
dc.subject.hlbsecondlevelMechanical Engineeringen_US
dc.subject.hlbtoplevelEngineeringen_US
dc.description.peerreviewedPeer Revieweden_US
dc.contributor.affiliationumDepartment of Computer Science and Engineering, University of Michigan, Ann Arbor, Michigan 48824. http://april.eecs.umich.edu.en_US
dc.contributor.affiliationotherSoar Technology, Ann Arbor, Michigan 48105. http://www.soartech.comen_US
dc.description.bitstreamurlhttp://deepblue.lib.umich.edu/bitstream/2027.42/93532/1/21426_ftp.pdf
dc.identifier.doi10.1002/rob.21426en_US
dc.identifier.sourceJournal of Field Roboticsen_US
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dc.owningcollnameInterdisciplinary and Peer-Reviewed


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