distributed robotic mapping of extreme environments:极端环境的分布式机器人映射推荐.pdf

distributed robotic mapping of extreme environments:极端环境的分布式机器人映射推荐.pdf

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distributed robotic mapping of extreme environments:极端环境的分布式机器人映射推荐

Carnegie Mellon University Research Showcase @ CMU Robotics Institute School of Computer Science 2000 Distributed Robotic Mapping of Extreme Environments S.M. Thayer Carneg ie Mellon University M. Bernardine Dias Carneg ie Mellon University B. Nabbe Carneg ie Mellon University B. Digney Carneg ie Mellon University Martial Hebert Carneg ie Mellon University See next page for additional authors Follow this and additional works at : /robotics Part of the Robotics Commons This Conference Proceeding is brought to you for free and open access by the School of Computer Science at Research Showcase @ CMU. It has been accepted for inclusion in Robotics Institute by an authorized administrator of Research Showcase @ CMU. For more information, please contact research-showcase@. Authors S.M. Thayer, M. Bernardine Dias, B. Nabbe, B. Digney, Martial Hebert, and A . Stentz This conference proceeding is available at Research Showcase @ CMU: /robotics/173 Distributed Robotic Mapping of Extreme Environments ∗ S. M. Thayer , M. Bernardine Dias, B. Nabbe, B. Digney, M. Hebert, and A. Stentz Robotics Institute, Carnegie Mellon University 5000 Forbes Avenue, Pittsburgh, PA 15213 ABSTRACT In the extreme environments posed by war fighting, fire fighting, and nuclear accident response, the cost of direct human exposure is levied in terms of injury and death. Robotic alternatives must address effective operations while removing humans from danger. This is profoundly challenging, as extreme environments inflict cumulative performance damage on exposed robotic agents. Sensing and perception are among the most vulnerable comp

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