An Architecture for Online Affordance-based Perception and Whole-body Planning

The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite transmitted over a constrained, field-realistic communications link. We describe the design considerations, architecture, implementation and performance of the software that Team MIT developed to command and control an Atlas humanoid robot. Our design emphasized human interaction with an efficient motion planner, where operators expressed desired robot actions in terms of affordances fit using perception and manipulated in a custom user interface. We highlight several important lessons we learned while developing our system on a highly compressed schedule

Team MIT Urban Challenge Technical Report

This technical report describes Team MITs approach to theDARPA Urban Challenge. We have developed a novel strategy forusing many inexpensive sensors, mounted on the vehicle periphery,and calibrated with a new cross-­modal calibrationtechnique. Lidar, camera, and radar data streams are processedusing an innovative, locally smooth state representation thatprovides robust perception for real­ time autonomous control. Aresilient planning and control architecture has been developedfor driving in traffic, comprised of an innovative combination ofwell­proven algorithms for mission planning, situationalplanning, situational interpretation, and trajectory control. These innovations are being incorporated in two new roboticvehicles equipped for autonomous driving in urban environments,with extensive testing on a DARPA site visit course. Experimentalresults demonstrate all basic navigation and some basic trafficbehaviors, including unoccupied autonomous driving, lanefollowing using pure-­pursuit control and our local frameperception strategy, obstacle avoidance using kino-­dynamic RRTpath planning, U-­turns, and precedence evaluation amongst othercars at intersections using our situational interpreter. We areworking to extend these approaches to advanced navigation andtraffic scenarios

Establishing Core Content for Culturally Grounded Harm Reduction Intervention for Urban Indigenous After-School Youth in the Pacific Northwest

Indigenous adults (18 years or older) including parents, staff, and volunteers of an urban Indigenous youth after-school program participated in individual interviews (n = 10) as part of a community-based participatory research (CBPR) Indigenous harm reduction study to identify alcohol and other drug (AOD) content to include in prevention programming for youth participants. Adult findings were organized using a risk environment framework to identify culturally relevant social, physical, policy, and economic AOD risk factors for youth. We report where adult findings intersect with previously described youth results to establish a list of core content (i.e., culturally relevant AOD prevention activities and discussion topics) to guide program implementation. Core content includes intergenerational Indigenous perspectives (i.e., youth, adult, and elder) to reflect Indigenous cultural lifeways and values of protecting future generations. Findings may be highly relevant to other Indigenous after-school groups or others who wish to develop harm reduction prevention programming for urban Indigenous youth in the Pacific Northwest or beyond