Download - Task Summary
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Adaptive Autonomous Robot Teams for Situational Awareness
Gaurav S. Sukhatme, Maja J. Mataric,
Andrew Howard, Ashley Tews
Robotics Research LaboratoryUniversity of Southern California
http://robotics.usc.edu/projects/mars
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Task Summary• Outdoor simulation
• Cooperative outdoor localization
• Semantic representations
• Stealthy behaviors
• Path-referenced perception
• Human-robot interface
• Integration
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Simulation• Planned Extensions
– 3D simulation for outdoor terrain.
– Incorporate USC helicopter and UPenn blimp
• Recent Progress: Player – generic driver/interface model – IMU/GPS drivers, laser and
visual fiducial detectors– Supports multiple architectures
(e.g. Solaris, iPAQ)
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Cooperative Outdoor Localization
• Plans– Extend existing localization
algorithms to outdoor environments.
– Implement outdoor localization in the presence of partial GPS.
– Validate through outdoor experiments with small teams (4 ground robots).
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Semantic Representation and Activity Recognition
• Semantic mark-up of maps with following attributes: – elevation, terrain type and traversability, foliage and
coverage type, and impact on communications.
• Integrate activity/motion detection algorithms to locate people in the environment.
• Demonstrate semantic markup using ground robots at USC.
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Variable Autonomy and Stealth
• Develop and implement behaviors for variable autonomy incorporating operator feedback using gestures
• Develop and implement a new “stealthy patrolling” behavior by integrating visibility constraints into current patrolling algorithms
• Adapt and tune above behaviors using reinforcement learning to improve performance
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Path-referenced Perception and Behaviors
• Develop path-referenced perception and behaviors, which allow recall of behavioral strategy relative to priors paths taken in the mission
• Integrate path-referencing which allows robots to query each other for relative locations of semantic mark-ups
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Integration• Plans:
– Demonstrations at USC of cooperative localization (laser based with IMU and GPS) using ground robots and USC helicopter.
– Demonstration at USC of activity detection, semantic markup of terrain and stealthy traverses.
– Support joint demonstration with ground robots.
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Other Progress to Date
• Contract in place: Nov 4, 2002• New Personnel: Nathan Koenig (student),
Emil Birgesson (visitor from Sweden), Ian Kelly (100%), Stefan Hrabar (50%) both as project specialists
• New Robots: – 4 Pioneer 2ATs (Intel gift)– Control boards and IMU under test