We continued our work on translating information about system demonstration scenarios provided to us into functional and performance requirements for the three technology components -- map building, target finding, and target tracking -- on which our research focuses. The bulk of this activity has been to define realistic models/data structures for representing a the map of a building being scouted, for describing the perception and mobility capabilities in parametric form usable by our future software modules, and for expressing the motion plans to be computed by these modules. We are also defining a parametric model of a target's behavior. These parametric models are fairly advanced and almost complete.

We also have started work on extending the target-finding planner to use a more general visibility model than the idealistic line-of-sight one.

We have had a series of meetings to choose the experimental equipment we will acquire, mainly the robots, the sensors, and the computing equipment. A subset of this equipment has been chosen and we have asked permission to purchase this equipment.

We have organized our team, which now meets once a week to discuss progress and encountered difficulties, and to make joint decisions.

Finally, we have started setting the webpage for our project. The webpage address is http://underdog.Stanford.EDU/tmr/.