2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)最新文献

Visibility-based UAV path planning for surveillance in cluttered environments 基于可见性的无人机路径规划在混乱环境中的监视

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017660

Vengatesan Govindaraju, G. Leng, Qian Zhang

{"title":"Visibility-based UAV path planning for surveillance in cluttered environments","authors":"Vengatesan Govindaraju, G. Leng, Qian Zhang","doi":"10.1109/SSRR.2014.7017660","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017660","url":null,"abstract":"This paper focusses on the problem of determining near-optimal observation locations for an effective close-range UAV surveillance in terrains cluttered with buildings and trees. Use of Small-Unmanned Aerial Vehicles (S-UAVs) in civil defence applications has increased due to their portability and low operational costs. In close-range S-UAV surveillance in cluttered environments, there are two significant occlusions to visibility: complete (terrain) and partial (vegetation). However, in the existing literatures, the partial occlusions are generally neglected. In this paper, a probabilistic visibility model is proposed which considers both complete and partial occlusions to determine near-optimal surveillance path to enhance visibility of the desired regions on the ground using a two-step approach. In the first step, the waypoints are deployed in regions which provide near-uniform visibility of the desired target regions. This step involves finding the visibility space (region of space from which the desired target regions are visible) using the Fast Marching Method (FMM) and then deploying the waypoints in this region using Centroidal Voronoi tessellation (CVT). In the second step, flyable paths are constructed along the waypoints using an improved clustered spiral-alternating algorithm. Visibility with the proposed method is simulated for a synthetically generated terrain that resembles a residential area with buildings and trees. The results show the effectiveness of the proposed surveillance method in improving the visibility of the desired target regions.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127269782","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

Development and calibration of KaRoLa, a compact, high-resolution 3D laser scanner 开发和校准KaRoLa，一个紧凑的，高分辨率的3D激光扫描仪

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017677

L. Pfotzer, Jan Oberländer, A. Rönnau, R. Dillmann

引用次数: 13

A new fault tolerance method for field robotics through a self-adaptation architecture 一种基于自适应结构的现场机器人容错方法

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017646

Yanzhe Cui, Joshua T. Lane, R. Voyles, Akshay Krishnamoorthy

引用次数: 6

Aerial manipulator aimed for door opening mission 用于开门任务的空中机械手

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017685

H. Tsukagoshi, T. Hamada, M. Watanabe, Ryuma Iizuka, Dameitry Ashlih

引用次数: 5

Directed Exploration for Goal Oriented Navigation in unknown environments 未知环境下目标导向导航的定向探索

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017657

P. Senarathne, Danwei W. Wang

{"title":"Directed Exploration for Goal Oriented Navigation in unknown environments","authors":"P. Senarathne, Danwei W. Wang","doi":"10.1109/SSRR.2014.7017657","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017657","url":null,"abstract":"Autonomously navigating a robot in an unknown environment filled with obstacles to a goal location using a directed exploration strategy is presented. The exploration is directed towards the goal by iteratively selecting intermediate target points in the environment that reduces the distance estimate to the goal from robot's current position, until the goal is reached. A repetitive rechecking approach is also introduced to quickly detect and recover from dead-ends present in the environment. The proposed method alleviates the need to have access to the grid cell representing the goal, at the start of the navigation mission, as required by many dynamic grid path planning algorithms such as D*. In addition, the proposed method inherently supports any mapping application that outputs a grid of mapped information unlike many dynamic planning methods that require additional changes to support particle filter based mapping systems due to map orientation changes. Simulation experiments conducted in multiple environment conditions reveal that the proposed method is comparable to the optimal performance of dynamic path planning algorithms while requiring lesser number of decision steps to reach the goal.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120960954","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Training and Support system in the Cloud for improving the situational awareness in Search and Rescue (SAR) operations 云中的训练和支持系统，用于提高搜索和救援(SAR)行动中的态势感知

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017644

M. Pelka, K. Majek, J. Będkowski, P. Musialik, A. Maslowski, G. D. Cubber, Haris Balta, A. Coelho, R. Gonçalves, R. Baptista, Jose M. Sanchez, S. Govindaraj

{"title":"Training and Support system in the Cloud for improving the situational awareness in Search and Rescue (SAR) operations","authors":"M. Pelka, K. Majek, J. Będkowski, P. Musialik, A. Maslowski, G. D. Cubber, Haris Balta, A. Coelho, R. Gonçalves, R. Baptista, Jose M. Sanchez, S. Govindaraj","doi":"10.1109/SSRR.2014.7017644","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017644","url":null,"abstract":"In this paper, a Training and Support system for Search and Rescue operations is described. The system is a component of the ICARUS project (http://www.fp7-icarus.eu) which has a goal to develop sensor, robotic and communication technologies for Human Search And Rescue teams. The support system for planning and managing complex SAR operations is implemented as a command and control component that integrates different sources of spatial information, such as maps of the affected area, satellite images and sensor data coming from the unmanned robots, in order to provide a situation snapshot to the rescue team who will make the necessary decisions. Support issues will include planning of frequency resources needed for given areas, prediction of coverage conditions, location of fixed communication relays, etc. The training system is developed for the ICARUS operators controlling UGVs (Unmanned Ground Vehicles), UAVs (Unmanned Aerial Vehicles) and USVs (Unmanned Surface Vehicles) from a unified Remote Control Station (RC2). The Training and Support system is implemented in SaaS model (Software as a Service). Therefore, its functionality is available over the Ethernet. SAR ICARUS teams from different countries can be trained simultaneously on a shared virtual stage. In this paper we will show the multi-robot 3D mapping component (aerial vehicle and ground vehicles). We will demonstrate that these 3D maps can be used for Training purpose. Finally we demonstrate current approach for ICARUS Urban SAR (USAR) and Marine SAR (MSAR) operation training.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126999926","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Teleoperation of mobile robots using hybrid communication system in unreliable radio communication environments 基于混合通信系统的移动机器人在不可靠无线电通信环境下的远程操作

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017649

Ryohei Tsuzuki, Genki Yamauchi, K. Nagatani, Kazuya Yoshida

{"title":"Teleoperation of mobile robots using hybrid communication system in unreliable radio communication environments","authors":"Ryohei Tsuzuki, Genki Yamauchi, K. Nagatani, Kazuya Yoshida","doi":"10.1109/SSRR.2014.7017649","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017649","url":null,"abstract":"When an active volcano erupts, it is important to have visual images of the area to be able to forecast debris floods and/or pyroclastic flows. However, restricted zones are usually established within a radius of a few kilometers of the crater because of the direct danger to humans. Therefore, we propose an observation system based on a teleoperated mobile robot that is controlled using radio communication during volcanic activity. To evaluate the system, we conducted field tests using a 3G cellular phone inside certain volcanoes. During the experiments, we faced several dangerous situations where the robot stopped all motion because of the weakness of the 3G signal. To solve this problem, we developed a hybrid communication system with multiple robots that employs two radio communication links. In the proposed system, each robot is controlled via 3G communication signals. However, if any of the robots lose the 3G link, the control signal is relayed by another neighboring robot using a local communication link. In this paper, we explain the system, introduce our newly designed robots, and present results of our operation tests.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134274459","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

UAS deployment and data processing during the Balkans flooding 巴尔干洪水期间的无人机部署和数据处理

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017670

G. D. Cubber, Haris Balta, D. Doroftei, Y. Baudoin

引用次数: 29

Real-time moving objects tracking for mobile-robots using motion information 基于运动信息的移动机器人实时运动目标跟踪

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017674

M. A. Mohamed, Christoph Böddeker, B. Mertsching

引用次数: 8

The HCUAV project: Electronics and software development for medium altitude remote sensing HCUAV项目:用于中高度遥感的电子和软件开发

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017668

A. Amanatiadis, E. Karakasis, Loukas Bampis, Themistoklis Giitsidis, P. Panagiotou, G. Sirakoulis, A. Gasteratos, P. Tsalides, A. Goulas, K. Yakinthos

{"title":"The HCUAV project: Electronics and software development for medium altitude remote sensing","authors":"A. Amanatiadis, E. Karakasis, Loukas Bampis, Themistoklis Giitsidis, P. Panagiotou, G. Sirakoulis, A. Gasteratos, P. Tsalides, A. Goulas, K. Yakinthos","doi":"10.1109/SSRR.2014.7017668","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017668","url":null,"abstract":"The continuous increase of illegal migration flows to southern European countries has been recently in the spotlight of European Union due to numerous deadly incidents. Another common issue that the aforementioned countries share is the Mediterranean wildfires which are becoming more frequent due to the warming climate and increasing magnitudes of droughts. Different ground early warning systems have been funded and developed across these countries separately for these incidents, however they have been proved insufficient mainly because of the limited surveyed areas and challenging Mediterranean shoreline and landscape. In 2011, the Greek Government along with European Commission, decided to support the development of the first Hellenic Civil Unmanned Aerial Vehicle (HCUAV), which will provide solutions to both illegal migration and wildfires. This paper presents the challenges in the electronics and software design, and especially the under development solutions for detection of human and fire activity, image mosaicking and orthorectification using commercial off-the-shelf sensors. Preliminary experimental results of the HCUAV medium altitude remote sensing algorithms, show accurate and adequate results using low cost sensors and electronic devices.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122603379","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4