ITR: Collaborative Research; Multi-Robot Emergency Response

该项目是与明尼苏达大学的03-24864 Papanikolopoulos和宾夕法尼亚大学的03-24977 Kostas Daniilopoulos以及03-25017合作的，解决了机器人团队和信息技术（在危险环境中执行各种任务的应急响应）的重要应用的关键研究问题。该研究设定了6个目标：开发新的算法，实现协作感知。开发分布式定位/映射方法，利用异构机器人的能力。深入研究通信问题，重点是超宽带通信方法的透明集成。开发团队协调和动态分配任务给机器人的方法。创建用于向用户呈现感官信息的算法。实验验证上述算法和技术的可扩展性。PI使用明尼苏达大学设计的Scout和MegaScout机器人平台沿着加州理工学院和宾夕法尼亚大学的其他测试平台进行研究。该项目将算法与第一响应团队相结合，强调现实的场景;指导来自代表性不足的群体的学生，以便将他们留在CS/EE计划中;通过在当地学校和青年团体进行演示开展外展活动;举办强调跨学科互动的研讨会;创建网络资源;创新多机器人团队的课堂使用;并包括老年人设计项目的部分研究。该项目还包括与NTUA（希腊）和Louis Pasteur-Strasbourg I大学（法国）的国际合作。

This project, a collaborative with 03-24864 Papanikolopoulos at University of Minnesota and 03-24977 Kostas Daniilidis at University of Pennsylvania, and 03-25017, addresses research issues key to an important application of robot teams and information technology (emergency response in hazardous environments for various tasks). The research sets 6 goals: Development of new algorithms that enable collaborative sensing. Development of distributed localization/mapping methods that leverage capabilities of the heterogeneous robots. In-depth study of communication issues with emphasis on transparent integration of ultra wideband communication methodologies. Development of methods for team coordination and dynamic distribution of tasks to robots. Creation of algorithms for the presentation of sensory information to users. Experimental validation of the scalability of the aforementioned algorithms and techniques.The PIs use the Scout and MegaScout robotic platforms designed at the University of Minnesota along with other testbeds at CalTech and U Penn to conduct the research. The project integrates the algorithms with first responder teams, emphasizing realistic scenarios; mentors students from underrepresented groups in order to retain them in CS/EE programs; conducts outreach activities through demonstrations at local schools and youth groups; conducts workshops that emphasize cross-disciplinary interaction; creates web resources; innovates classroom uses of multi-robot teams; and includes parts of the research in design projects for seniors. The project also includes international collaboration with groups at NTUA (Greece) and the University Louis Pasteur-Strasbourg I (France).