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Proceedings Paper • Open Access

Distributed, collaborative human-robotic networks for outdoor experiments in search, identify and track
Author(s): Daniel Lee; Mark McClelland; Joseph Schneider; Tsung-Lin Yang; Dan Gallagher; John Wang; Danelle Shah; Nisar Ahmed; Pete Moran; Brandon Jones; Tung-Sing Leung; Aaron Nathan; Hadas Kress-Gazit; Mark Campbell

Paper Abstract

This paper presents an overview of a human-robotic system under development at Cornell which is capable of mapping an unknown environment, as well as discovering, tracking, and neutralizing several static and dynamic objects of interest. In addition, the robots can coordinate their individual tasks with one another without overly burdening a human operator. The testbed utilizes the Segway RMP platform, with lidar, vision, IMU and GPS sensors. The software draws from autonomous systems research, specifically in the areas of pose estimation, target detection and tracking, motion and behavioral planning, and human robot interaction. This paper also details experimental scenarios of mapping, tracking, and neutralization presented by way of pictures, data, and movies.

Paper Details

Date Published: 27 October 2010
PDF: 21 pages
Proc. SPIE 7833, Unmanned/Unattended Sensors and Sensor Networks VII, 78330E (27 October 2010); doi: 10.1117/12.868572
Show Author Affiliations
Daniel Lee, Cornell Univ. (United States)
Mark McClelland, Cornell Univ. (United States)
Joseph Schneider, Cornell Univ. (United States)
Tsung-Lin Yang, Cornell Univ. (United States)
Dan Gallagher, Cornell Univ. (United States)
John Wang, Cornell Univ. (United States)
Danelle Shah, Cornell Univ. (United States)
Nisar Ahmed, Cornell Univ. (United States)
Pete Moran, Cornell Univ. (United States)
Brandon Jones, Cornell Univ. (United States)
Tung-Sing Leung, Cornell Univ. (United States)
Aaron Nathan, Cornell Univ. (United States)
Hadas Kress-Gazit, Cornell Univ. (United States)
Mark Campbell, Cornell Univ. (United States)

Published in SPIE Proceedings Vol. 7833:
Unmanned/Unattended Sensors and Sensor Networks VII
Edward M. Carapezza, Editor(s)

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