From ERL to MBZIRC: Development of An Aerial-Ground Robotic Team for Search and Rescue

Automation and Control [Working Title] Pub Date : 2021-08-09 DOI:10.5772/intechopen.99210

Barbara Arbanas, Frano Petric, Ana Batinovic, Marsela Polic, Ivo Vatavuk, Lovro Markovic, Marko Car, Ivan Hrabar, Antun Ivanovic, S. Bogdan

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引用次数: 2

Abstract

This chapter describes the efforts of the LARICS team in the 2019 European Robotics League (ERL) Emergency Robots and the 2020 Mohamed Bin Zayed International Robotics Challenge (MBZIRC) robotics competitions. We focus on the implementation of hardware and software modules that enable the deployment of aerial-ground robotic teams in unstructured environments for joint missions. In addition to the overall system specification, we outline the main algorithms for operation in such conditions: autonomous exploration of unknown environments and detection of objects of interest. Analysis of the results shows the success of the developed system in the competition arena of two of the largest outdoor robotics challenges. Throughout the chapter, we highlight the evolution of the robotic system based on the experience gained in the ERL competition. We conclude the chapter with key findings and additional improvement ideas to advance the state of the art in search and rescue applications of heterogeneous robotic teams.

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从ERL到MBZIRC:一个用于搜索和救援的空中地面机器人团队的发展

本章描述了LARICS团队在2019年欧洲机器人联盟(ERL)紧急机器人和2020年穆罕默德·本·扎耶德国际机器人挑战赛(MBZIRC)机器人比赛中的努力。我们专注于硬件和软件模块的实现，这些模块能够在非结构化环境中部署空中-地面机器人团队，执行联合任务。除了整体系统规范外，我们还概述了在这些条件下运行的主要算法:对未知环境的自主探索和感兴趣的对象的检测。结果分析表明，所开发的系统在两个最大的户外机器人挑战的竞争舞台上取得了成功。在整个章节中，我们强调了机器人系统基于在ERL竞赛中获得的经验的演变。我们总结了本章的主要发现和额外的改进思想，以推进异构机器人团队在搜索和救援应用方面的最新进展。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Automation and Control [Working Title]

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