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Task Summary

Adaptive Autonomous Robot Teams for Situational Awareness Gaurav S. Sukhatme, Maja J. Mataric, Andrew Howard, Ashley Tews Robotics Research Laboratory University of Southern California http://robotics.usc.edu/projects/mars. Outdoor simulation Cooperative outdoor localization

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Task Summary

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  1. Adaptive Autonomous Robot Teams for Situational AwarenessGaurav S. Sukhatme, Maja J. Mataric, Andrew Howard, Ashley TewsRobotics Research LaboratoryUniversity of Southern Californiahttp://robotics.usc.edu/projects/mars

  2. Outdoor simulation Cooperative outdoor localization Semantic representations Stealthy behaviors Path-referenced perception Human-robot interface Integration Task Summary

  3. Simulation • Planned Extensions • 3D simulation for outdoor terrain. • Incorporate USC helicopter and UPenn blimp • Recent Progress: Player • generic driver/interface model • IMU/GPS drivers, laser and visual fiducial detectors • Supports multiple architectures (e.g. Solaris, iPAQ)

  4. Cooperative Outdoor Localization • Plans • Extend existing localization algorithms to outdoor environments. • Implement outdoor localization in the presence of partial GPS. • Validate through outdoor experiments with small teams (4 ground robots).

  5. Semantic Representation and Activity Recognition • Semantic mark-up of maps with following attributes: • elevation, terrain type and traversability, foliage and coverage type, and impact on communications. • Integrate activity/motion detection algorithms to locate people in the environment. • Demonstrate semantic markup using ground robots at USC.

  6. Variable Autonomy and Stealth • Develop and implement behaviors for variable autonomy incorporating operator feedback using gestures • Develop and implement a new “stealthy patrolling” behavior by integrating visibility constraints into current patrolling algorithms • Adapt and tune above behaviors using reinforcement learning to improve performance

  7. Path-referenced Perception and Behaviors • Develop path-referenced perception and behaviors, which allow recall of behavioral strategy relative to priors paths taken in the mission • Integrate path-referencing which allows robots to query each other for relative locations of semantic mark-ups

  8. Integration • Plans: • Demonstrations at USC of cooperative localization (laser based with IMU and GPS) using ground robots and USC helicopter. • Demonstration at USC of activity detection, semantic markup of terrain and stealthy traverses. • Support joint demonstration with ground robots.

  9. Other Progress to Date • Contract in place: Nov 4, 2002 • New Personnel: Nathan Koenig (student), Emil Birgesson (visitor from Sweden), Ian Kelly (100%), Stefan Hrabar (50%) both as project specialists • New Robots: • 4 Pioneer 2ATs (Intel gift) • Control boards and IMU under test

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