Tactical mobile robot mission specification and execution

Abstract Georgia Tech, as part of DARPA's Tactical Mobile Robotics (TMR) Program, is developing a widerange of mission specification capabilities for the urban warfighter. These include the development of arange of easily configurable mission-specific robot behaviors suitable for various battlefield and special forces scenarios; communications planning and configuration capabilities for small teams of robotsacting in a coordinated manner; interactive graphical visual programming environments for missionspecification; and real-time analysis tools and methods for mission execution verification. This paperprovides an overview of the approach being taken by the Georgia Tech/Honeywell team and presentsa range of preliminary results for a variety of missions in both simulation and on actual robots. 1. Introduction and Overview As part of DARPA's Tactical Mobile Robotics Program, Georgia Tech is providing certain basic capabilities suitable for robotic missions in urban settings: flexible reactive behaviors suitable for specific

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