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A daptive Autonomous R obot T eams for S ituational Awareness

University of Pennsylvani Georgia Institute of Technology University of Southern California BBN. A daptive Autonomous R obot T eams for S ituational Awareness. PI: Vijay Kumar Senior Personnel: Camillo Jose Taylor, Jim Ostrowski

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A daptive Autonomous R obot T eams for S ituational Awareness

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  1. University of Pennsylvani Georgia Institute of Technology University of Southern California BBN Adaptive Autonomous Robot Teams for Situational Awareness PI: Vijay Kumar Senior Personnel: Camillo Jose Taylor, Jim Ostrowski Students: John Spletzer, Aveek Das, Guilherme Pereira Co-PI: Ron Arkin Senior Personnel: Tucker Balch Students: John Spletzer, Aveek Das, Guilherme Pereira Co-PI: Gaurav Sukhatme Senior Personnel: Maja Mataric Students: Co-PI: Jason Redi Senior Personnel: Maja Mataric Students: GOALS • A comprehensive model and framework integrating communications, perception, and execution • Automated acquisition of perceptual information for situational awareness • Reactive group behaviors for a team of air and ground based robots that are communications sensitive • A new framework for ad hoc networking in which robots use sensory information and relative position information to adapt network topology to the constraints of the task. Penn GRASP Tasks • Integrated model for control, perception and communication for situational awareness • Synthesis and integration for perception enabling multiple views at different spatio-temporal resolution GT MRL Tasks • Communication-sensitive planning and behavioral control algorithms in support of network-centric warfare • Integrated mission specification system (MissionLab) spanning heterogeneous teams of UAVs and UGVs The ARTS team consists of a medium altitude UAV (a robotic blimp), a low altitude UAV (a robotic helicopter), and four UGVs. USC RRL Tasks • Cooperative outdoor localization for small teams of robots • Semantic mark-up of maps with environmental attributes and recognition of activity. • Behaviors for path-referenced perception and for clandestine operations The Air Ground Coordination Testbed at Penn will be used to integrate communications, perception and control The Georgia Tech Hummer will be used to deploy robotic forces and for human monitoring and interaction BBN Tasks • Models of QoS and metrics of performance for network-centric warfare • Interface design between network and robot modules • Formulation of FCS needs, capabilities, and design of demonstrations The USC helicopter and UGVs will demonstrate autonomous behaviors for situational awareness IMPACT • New paradigm and novel algorithms for network-centric warfare • Air-Ground coordination will directly impact FCS capabilities

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