Numerical recipes in C (2nd ed.): the art of scientific computing
Numerical recipes in C (2nd ed.): the art of scientific computing
Frontier-based exploration using multiple robots
AGENTS '98 Proceedings of the second international conference on Autonomous agents
Fastslam: a factored solution to the simultaneous localization and mapping problem with unknown data association
Atlas: a framework for large scale automated mapping and localization
Atlas: a framework for large scale automated mapping and localization
A column approximate minimum degree ordering algorithm
ACM Transactions on Mathematical Software (TOMS)
Voronoi diagram in optimal path planning
ISVD '07 Proceedings of the 4th International Symposium on Voronoi Diagrams in Science and Engineering
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
Creating High-quality Paths for Motion Planning
International Journal of Robotics Research
Journal of Field Robotics - Special Issue on Teamwork in Field Robotics
Autonomous driving in urban environments: Boss and the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Junior: The Stanford entry in the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part II
A perception-driven autonomous urban vehicle
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part III
Mapping, navigation, and learning for off-road traversal
Journal of Field Robotics - Special Issue on LAGR Program, Part I
Robust and efficient robotic mapping
Robust and efficient robotic mapping
Recognizing places using spectrally clustered local matches
Robotics and Autonomous Systems
Real-time correlative scan matching
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Simultaneous local and global state estimation for robotic navigation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Cooperative localization for autonomous underwater vehicles
Cooperative localization for autonomous underwater vehicles
Exploration and mapping with autonomous robot teams
Communications of the ACM
Inference on networks of mixtures for robust robot mapping
International Journal of Robotics Research
Robust loop closing over time for pose graph SLAM
International Journal of Robotics Research
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Tasks like search-and-rescue and urban reconnaissance benefit from large numbers of robots working together, but high levels of autonomy are needed to reduce operator requirements to practical levels. Reducing the reliance of such systems on human operators presents a number of technical challenges, including automatic task allocation, global state and map estimation, robot perception, path planning, communications, and human-robot interfaces. This paper describes our 14-robot team, which won the MAGIC 2010 competition. It was designed to perform urban reconnaissance missions. In the paper, we describe a variety of autonomous systems that require minimal human effort to control a large number of autonomously exploring robots. Maintaining a consistent global map, which is essential for autonomous planning and for giving humans situational awareness, required the development of fast loop-closing, map optimization, and communications algorithms. Key to our approach was a decoupled centralized planning architecture that allowed individual robots to execute tasks myopically, but whose behavior was coordinated centrally. We will describe technical contributions throughout our system that played a significant role in its performance. We will also present results from our system both from the competition and from subsequent quantitative evaluations, pointing out areas in which the system performed well and where interesting research problems remain. © 2012 Wiley Periodicals, Inc. © 2012 Wiley Periodicals, Inc.