Scott Thayer

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This work presents a novel approach to efficient multirobot mapping and exploration which exploits a market architecture in order to maximize information gain while minimizing incurred costs. This system is reliable and robust in that it can accommodate dynamic introduction and loss of team members in addition to being able to withstand communication(More)
The DARPA PerceptOR program implements a rigorous evaluative test program which fosters the development of field relevant outdoor mobile robots. Autonomous ground vehicles are deployed on diverse test courses throughout the USA and quantitatively evaluated on such factors as autonomy level, waypoint acquisition, failure rate, speed, and communications(More)
This paper describes two robotic systems developed for acquiring accurate volumetric maps of underground mines. One system is based on a cart instrumented by laser range finders, pushed through a mine by people. Another is a remotely controlled mobile robot equipped with laser range finders. To build consistent maps of large mines with many cycles, we(More)
This paper presents a real-time implementation of a topological localization method based on matching image features. This work is supported by a unique sensor pod design that provides stand-alone sensing and computing for localizing a vehicle on a previously traveled road. We report extensive field test results from outdoor environments, with the sensor(More)
This article discusses the software architecture of an autonomous robotic system designed to explore and map abandoned mines. A new set of software tools is presented, enabling robots to acquire maps of unprecedented size and accuracy. On 30 May 2003, the robot "Groundhog" successfully explored and mapped a main corridor of the abandoned Mathies mine near(More)
Unknown, unexplored and abandoned subterranean voids threaten mining operations, surface developments and the environment. Hazards within these spaces preclude human access to create and verify extensive maps or to characterize and analyze the environment. To that end, we have developed a mobile robot capable of autonomously exploring and mapping abandoned(More)
Robotic systems exhibit remarkable capability for exploring and mapping subterranean voids. Information about subterranean spaces has immense value for civil, security, and commercial applications where problems, such as encroachment, collapse, flooding and subsidence can occur. Contemporary method for underground mapping, such as human surveys and(More)
Described is the development and testing of a robust vegetation detector for mobile robot navigation. A multispectral sensor was created out of a near-infrared and a visible light video camera. Vegetation was then detected by subtracting each pixel in the red channel of the visible-light image from the corresponding pixel in the near-infrared image and(More)
Inherent dangers in mining operations motivate the use of robotic technology for addressing hazardous situations that prevent human access. In the context of this case study, we examine the application of a robotic tool for map verification and void profiling in abandoned limestone mines for analysis of cavity extent. To achieve this end, our device enables(More)
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(More)