The Keystone Fire Brigade 2003

The Keystone Fire Brigade is a robotic rescue team that has previously competed in competitions at Robocup (Fukuoka, 2002; Padua 2003), AAAI (Edmonton, 2002), and IJCAI (Acapulco, 2003). The key elements of our approach are an emphasis on vision, a fully autonomy solution, and an implementation on inexpensive robot bases. This paper describes the version of the team that competed at IJCAI in 2003. We overview the hardware employed, methods used for visual processing, map-making and victim identification. We also describe the experences we had in the test domain and oer some recommendations on future competitions.

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