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Fireseeker combines state-of-the-art explosives detectors with autonomous urban navigation capabilities developed by the iRobot Wayfarer Project. Wayfarer was funded by the US Army Tank-Automotive Research, Development, and Engineering Center (TARDEC contract DAAE07-03-C-L147) to develop autonomous urban reconnaissance capabilities for the rugged, man-portable, battle-proven, iRobot PackBot UGV.
The Wayfarer PackBot is capable of performing fully-autonomous perimeter reconnaissance and route reconnaissance missions in urban terrain, including GPS-denied areas [Yamauchi 05]. Wayfarer is equipped with LIDAR and stereo vision sensors for obstacle avoidance in three-dimensional environments. Wayfarer is also equipped with behaviors that add robustness to navigation in unstructured environments, including behaviors that automatically deploy flippers to assist in climbing obstacles and behaviors that detect when the robot is stuck on an obstacle and allow the robot to free itself without human intervention.
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