RI: Medium Collaborative Research: Minimalist Mapping and Monitoring

“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。“该项目解决了构建自己的地图并解决监控任务的机器人系统常见的基本和具有挑战性的问题。 特别是，这项工作有助于我们的一般理解之间的相互作用的传感器，控制和计算，人们试图设计系统，最大限度地减少成本和最大限度地提高鲁棒性。强大的新的抽象，规划算法和控制律，完成基本的映射和监控操作正在开发中。 这有望在许多以地图绘制和单调为基本组成部分的环境中带来技术的改进。涉及搜索、跟踪和监控人、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，濒危物种的科学研究，辅助生活，地面军事行动，甚至分析购物习惯。 这项工作特别具有变革性，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。

"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 to robotic systems that build their own maps and solve monitoring tasks. In particular, the work contributes to our general understanding of the interplay between sensing, control, and computation as people attempt to design systems that minimize costs and maximize robustness.Powerful new abstractions, planning algorithms, and control laws that accomplish basic mapping and monitoring operations are being developed in this effort. This is expected to lead to improved technologies in numerous settings where mapping and monotoring are basic components.Ample motivation is provided by technological challenges that involve searching, tracking, and monitoring the behavior of people, wildlife, and robots. Examples include search-and-rescue, security sweeps, mapping abandoned mines, scientific study of endangered species, assisted living, ground-based military operations, and even analysis of shopping habits. The work is particularly transformative because it lives outside of the traditional boundaries of algorithms, computational geometry, sensor networks, control theory, and robotics. Furthermore, national interest continues to grow in the direction of developing distributed robotic systems that combine sensing, actuation, and computation. By helping to break down traditional academic and scientific barriers, it is expected that the work will transform the way we think about robotics algorithms, the engineering design process, and the education of students across the robotics, computational geometry, and control disciplines.