RI: Medium: Collaborative Research: Minimalist Mapping and Monitoring

RI：媒介：协作研究：极简制图和监测

• 批准号: 0904501
• 负责人: Subhash Suri
• 金额: $ 84.8万
• 依托单位: University of California-Santa Barbara
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2009
• 资助国家: 美国
• 起止时间: 2009-08-01 至 2013-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0904501&HistoricalAwards=false
• 关键词: RI; Medium; Collaborative; Research; Minimalist

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

提案标题：RI：媒体合作研究：极简主义测绘与装饰机构：伊利诺伊大学厄巴纳-香槟分校摘要日期：05/05/09“该奖项是根据2009年美国复苏和再投资法案（公法111-5）资助的。“这个项目解决了基本的和具有挑战性的问题，这些问题是建立自己的地图和解决监测任务的常见torobotic系统。特别是，当人们试图设计成本最小化和鲁棒性最大化的系统时，这项工作有助于我们对传感、控制和计算之间相互作用的一般理解。在这项努力中，正在开发强大的新抽象、规划算法和控制律，以完成基本的映射和监控操作。这有望在地图和监控为基本组成部分的众多环境中带来技术的改进。搜索、跟踪和监控人类、野生动物和机器人行为的技术挑战提供了充足的动力。例子包括搜索和救援、安全扫描、绘制废弃矿井、濒危物种科学研究、辅助生活、地面军事行动，甚至购物习惯分析。这项工作特别具有变革性，因为它超出了算法、计算几何、传感器网络、控制理论、机器人技术的传统界限。此外，国家的兴趣继续增长的方向，开发分布式机器人系统，结合联合收割机传感，驱动和计算。通过帮助打破传统的学术和科学障碍，预计这项工作将改变我们对机器人算法、工程设计过程以及机器人、计算几何和控制学科学生教育的思考方式。