Good Wheel Hunting: UMass Lowell’s Scavenger Hunt Robot System

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This paper describes the UMass Lowell entry into the Scavenger Hunt Competition at the AAAI-2005 Robot Competition and Exhibition. The scavenger hunt entry was built on top of the system we have been developing for urban search and rescue (USAR) research. The system includes new behaviors and behavior sequencing, vision algorithms and sensor processing algorithms, all used to locate the objects in the scavenger hunt.