Blue Swarm Sentinel and Blue Swarm 2

Contents

This paper describes the Utah State University (USU) entry in the 2002 robotic Urban Search and Rescue (USAR) competition, hosted by the Association for the Advancement of Artificial Intelligence (AAAI). More importantly, it also describes the problems the team encountered in preparing for this year’s competition, the lessons learned, and plans for the 2003 USAR competition.