Reconnaissance and Autonomy for Small Robots (RASR) team: MAGIC 2010 challenge
Reconnaissance and Autonomy for Small Robots (RASR) team: MAGIC 2010 challenge
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DOI：
10.1117/12.918705
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发表时间：
2012-05
影响因子：
8.3
通讯作者：
A. Lacaze;K. Murphy;Mark Del Giorno;Katrina Corley
中科院分区：
文献类型：
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作者：
A. Lacaze;K. Murphy;Mark Del Giorno;Katrina Corley
小型机器人侦察和自主（RASR）团队开发了一种用于协调无人地面车辆（UGV）组的系统，这些车辆可以在动态城市环境中执行各种军事相关任务。从历史上看，UGV操作主要是通过遥操作来执行的，每个机器人至少需要一个专门的操作员，并且需要大量的真实的时间带宽来完成这些任务。我们团队参加MAGIC 2010竞赛的目标是开发一种能够为作战人员提供长期实用价值的系统。为此，我们自我施加了一系列限制，迫使我们开发短期内可供军方使用的技术：使用相关（已部署）平台使用低成本，可靠的传感器利用创新的软件算法开发可扩展的模块化控制系统，以最大限度地减少所需的计算占用空间最小化所需的通信带宽并处理通信损耗最大限度地减少额外的电力需求，最大限度地延长电池寿命和使命持续时间
The Reconnaissance and Autonomy for Small Robots (RASR) team developed a system for the coordination of groups of unmanned ground vehicles (UGVs) that can execute a variety of militarily relevant missions in dynamic urban environments. Historically, UGV operations have been primarily performed via teleoperation, requiring at least one dedicated operator per robot, and requiring substantial real‐time bandwidth to accomplish those missions. Our team goal for entering the MAGIC 2010 competition was to develop a system that can provide practical long‐term value to the war‐fighter. To that end, we self‐imposed a set of constraints that would force us to develop technology that could readily be used by the military in the near term: Use a relevant (deployed) platform Use low‐cost, reliable sensors Develop an expandable and modular control system with innovative software algorithms to minimize the computing footprint required Minimize required communications bandwidth and handle communication losses Minimize additional power requirements to maximize battery life and mission duration