UvA Rescue Team 2006 RoboCup Rescue - Simulation League
Max Folkert Pfingsthorn, Bayu A. Slamet, Arnoud Visser, Nikos Vlassis · 2006
University of AmsterdamKruislaan 403, 1098 SJ AmsterdamThe NetherlandsAbstract. The UvA Rescue Team will participate in the RoboCup Res-cue Simulation League by employing a Simultaneous Planning, Localiza-tion and Mapping (SPLAM) approach. This approach augments tradi-tional SLAM approaches with Planning in order to accomplish the settasks. In this approach SLAM is modeled as one of the potential sub-goals that may enable completion of the overall task. The benefit of thisapproach is that the quality of Localization and/or Mapping is regardedwith respect to the tasks to achieve, which will gauge the optimizationpolicy towards completing the task as a whole. Since victim detectionis considered part of the exploration problem, we consider an approachbased on the SPLAM paradigm as complete.