RI: Medium: Collaborative Research: Minimalist Mapping and Monitoring

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Proposal Title: RI: Medium Collaborative Research: Minimalist Mapping andMonitoringInstitution: University of Illinois at Urbana-ChampaignAbstract Date: 05/05/09"This award is funded under the American Recovery and Reinvestment Act of 2009(Public Law 111-5)."This project addresses fundamental and challenging questions that are common torobotic systems that build their own maps and solve monitoring tasks. In particular, thework contributes to our general understanding of the interplay between sensing, control,and computation as people attempt to design systems that minimize costs andmaximize robustness.Powerful new abstractions, planning algorithms, and control laws that accomplish basicmapping and monitoring operations are being developed in this effort. This is expectedto lead to improved technologies in numerous settings where mapping and monotoringare basic components.Ample motivation is provided by technological challenges that involve searching,tracking, and monitoring the behavior of people, wildlife, and robots. Examples includesearch-and-rescue, security sweeps, mapping abandoned mines, scientific study ofendangered species, assisted living, ground-based military operations, and evenanalysis of shopping habits.The work is particularly transformative because it lives outside of the traditionalboundaries of algorithms, computational geometry, sensor networks, control theory, androbotics. Furthermore, national interest continues to grow in the direction of developingdistributed robotic systems that combine sensing, actuation, and computation. Byhelping to break down traditional academic and scientific barriers, it is expected that thework will transform the way we think about robotics algorithms, the engineering designprocess, and the education of students across the robotics, computational geometry,and control disciplines.NATIONAL SCIENCE FOUNDATIONProposal AbstractProposal:0905523 PI Name:LaValle, StevenPrinted from eJacket: 05/06/09 Page 1 of 1