UPenn Multi-Robot Unmanned Vehicle System (MAGIC)
Abstract
In this report, we describe the technical approach and algorithms that have been used by the University of Pennsylvania for multi-robot perception, planning, and control in the context of the MAGIC competition and in ensuing years. We have constructed and deployed a multi-vehicle robot team, consisting of intelligent sensor and disrupter UGVs that can survey, map, recognize, and respond to threats in a dynamic urban environment with minimal human guidance. The custom hardware systems consist of robust and complementary sensors, integrated electronics, computation, and highly capable propulsion and actuation. The mapping, navigation, and planning software is organized hierarchically, allowing autonomous decisions to be made by the robots while enabling human operators to interact with the robot team in an efficient and strategic manner. The ground control station integrates information coming from the robots as well as metadata feeds to focus the attention of the operators and respond rapidly to emerging threats.
Document Details
- Document Type
- Technical Report
- Publication Date
- May 05, 2014
- Accession Number
- ADA599881
Entities
People
- Daniel D. Lee
Organizations
- University of Pennsylvania