RI: Medium: Collaborative Research: Minimalist Mapping and Monitoring

提案标题：国际扶轮：中等合作研究：最低限度的地图绘制和监控机构：伊利诺伊大学香槟分校摘要日期：05/05/09“该奖项是根据2009年美国复苏和再投资法案(公共法律111-5)资助的。”这个项目解决了一些基本的和具有挑战性的问题，这些问题是常见的机器人系统，它们构建自己的地图并解决监控任务。特别是，当人们试图设计最小成本和最大健壮性的系统时，这项工作有助于我们对传感、控制和计算之间的相互作用的一般理解。在这项工作中，正在开发强大的新的抽象、规划算法和控制规律来完成基本的映射和监控操作。预计这将导致许多环境中技术的改进，在这些环境中，地图和单幅打印是基本组件。技术挑战提供了巨大的动力，涉及搜索、跟踪和监控人类、野生动物和机器人的行为。例如搜索和救援、安全扫荡、绘制废弃地雷地图、濒危物种科学研究、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、控制理论和机器人学的传统界限。此外，国家利益继续朝着开发结合了传感、驱动和计算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、工程设计过程以及对机器人、计算几何和控制学科学生的教育的方式。自然科学基础建议摘要：0905523 PI姓名：拉瓦莱，史蒂文打印自eJacket：05/06/09第1页，共1页

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