PoAReT Team Description Paper

摘要

This paper introduces the main features of the PoAReT (Po- litecnico di Milano Autonomous Robotic Rescue Team) system for the Virtual Robot competition of the Rescue Simulation League at RoboCup 2012. This paper summarizes the main features of the PoAReT (Politecnico di Milano Autonomous Robotic Rescue Team) team for the Virtual Robot competition of the Rescue Simulation League at RoboCup 2012. The system is developed by six MSc students in Computer Engineering at the Politecnico di Milano. Further information about the team, including a link to the source code and the list of members with their roles is available at http://home.dei.polimi.it/amigoni/ research/PoAReT.html. In developing PoAReT, we push along the autonomy axis, attempting to equip the robotic system with methods that enable its autonomous operation for extended periods. At the same time, the role of human operator is not neglected, but is empowered by the autonomous features of the system. Besides the base station, our PoAReT system is composed of P3AT mobile platforms, equipped with laser range nders (with a 360 horizontal