RI: Medium: Collaborative Research: Minimalist Mapping and Monitoring

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。”该项目解决了常见的机器人系统构建自己的地图和解决监控任务的基本和具有挑战性的问题。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。强大的新抽象、规划算法和控制法则完成了基本的映射和监视操作。这有望在许多情况下改进技术，其中测绘和监测是基本组件。包括搜索、跟踪和监控人类、野生动物和机器人行为在内的技术挑战提供了充足的动力。例子包括研究和救援、安全清扫、绘制废弃矿井、濒危物种的科学研究、辅助生活、地面军事行动，甚至是购物习惯的分析。这项工作尤其具有变革性，因为它超越了算法、计算几何、传感器网络、控制理论和机器人技术的传统界限。此外，国家利益继续向开发集传感、驱动和计算于一体的分布式机器人系统的方向发展。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的学生教育的看法。美国国家科学基金会提案摘要提案：0905523 PI姓名：LaValle， stevenson打印自eJacket: 05/06/09

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