RoboCupRescue - Robot League Team Team Corky, United States
Steve Burion, Michael J. Coblenz, Jeffrey Gennari, Mary Koes, Michael Lewis, Tomasz D. Loboda, Michael Manjlovich, Illah Nour, Kevin Oishi, Jumpol Polvichai, Katia P. Sycara, Jijun Wang, Mark Yong · 2004
Heterogeneous teams of robots, cyber agents, and people working can work together to search an urban disaster site much more safely, efficiently, and quickly than human rescue workers alone. As a step towards realizing this goal, our RoboCup 2004 U.S. Open Rescue Robot team consists of two robots with different capabilities, a human operator, and an interface agent designed to facilitate interaction between robot and human teammates. Both of the robots, Corky and PER, were designed to be portable, robust, and comparably inexpen- sive. Corky is large enough to carry an advanced sensor suite for victim detec- tion while the PER is able to navigate smaller spaces. Both robots have limited autonomy in order to facilitate the task of the human operator. This paper de- tails the robot mechanics, sensing algorithms, user interface, mapping algo- rithms, and operator training that enable Team Corky to locate victims in the competition disaster arena.