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

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Half-diminished reality image using three RGB-D sensors for remote control robots 半缩小现实图像使用三个RGB-D传感器遥控机器人
2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017676
K. Sugimoto, Hiromitsu Fujii, A. Yamashita, H. Asama
{"title":"Half-diminished reality image using three RGB-D sensors for remote control robots","authors":"K. Sugimoto, Hiromitsu Fujii, A. Yamashita, H. Asama","doi":"10.1109/SSRR.2014.7017676","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017676","url":null,"abstract":"This paper presents a method to compose half-diminished reality images for remote control robots using three RGB-D sensors. Robots are designed to perform the work of humans during a disaster response to reduce secondary disasters. In these case, a operator controls the robot with the aid of images from a mounted camera. However, operating efficiency decreases significantly when the robot arm occludes target work objects in those images. Recently, the Half-Diminished Reality technique has been proposed in the field of computer vision. This technique is used for seeing through foreground objects and viewing occluded backgrounds. Accordingly, composing half-diminished reality images can enable the operator to see the target work objects occluded by the robot arm in only one image, which results in increased the operating efficiency.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"77 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":"132533326","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: 17
Development and field testing of UAV-based sampling devices for obtaining volcanic products 基于无人机的火山产品采样装置的开发和现场测试
2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017680
Ryosuke Yajima, K. Nagatani, Kazuya Yoshida
{"title":"Development and field testing of UAV-based sampling devices for obtaining volcanic products","authors":"Ryosuke Yajima, K. Nagatani, Kazuya Yoshida","doi":"10.1109/SSRR.2014.7017680","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017680","url":null,"abstract":"When an active volcano erupts, a restricted area is typically imposed around the crater of the volcano to protect people from volcanic phenomena. On the other hand, it is important to make observations inside the restricted area, to initiate alarms and make evacuation plans. Therefore, research and development of unmanned volcano exploration robots have been carried out all over the world. However, although ash sampling in restricted areas is an urgent necessity, there is no quick sampling method. Therefore, in this study, we aim to realize a sample-return system that uses a multi-rotor unmanned aerial vehicle (UAV) for obtaining volcanic products. In this paper, we introduce two sampling devices that we developed, and report results of indoor sampling experiments and outdoor field tests.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"69 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":"133796432","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: 11
A nonparallel hexrotor UAV with faster response to disturbances for precision position keeping 一种对扰动快速响应的非平行六旋翼无人机
2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017669
Guangying Jiang, R. Voyles
{"title":"A nonparallel hexrotor UAV with faster response to disturbances for precision position keeping","authors":"Guangying Jiang, R. Voyles","doi":"10.1109/SSRR.2014.7017669","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017669","url":null,"abstract":"This paper presents a fully actuated UAV platform with a nonparallel design. Standard multirotor UAVs equipped with a number of parallel thrusters would result in underactuation. Fighting horizontal wind would require the robot to tilt its whole body toward the direction of the wind. We propose a hexrotor UAV with nonparallel thrusters which results in faster response to disturbances for precision position keeping. A case study is presented to show that hexrotor with a nonparallel design takes less time to resist wind gust than a standard design. We also give the results of a staged peg-in-hole task that measures the rising time of exerting forces using different actuation mechanisms.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"28 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":"117197171","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: 49
The Open Academic Robot Kit: Lowering the barrier of entry for research into response robotics 开放学术机器人套件:降低进入响应机器人研究的门槛
2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017663
R. Sheh, H. Komsuoglu, A. Jacoff
{"title":"The Open Academic Robot Kit: Lowering the barrier of entry for research into response robotics","authors":"R. Sheh, H. Komsuoglu, A. Jacoff","doi":"10.1109/SSRR.2014.7017663","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017663","url":null,"abstract":"Open Source Software is a vital catalyst within the academic robotics community. Frameworks built on open software, like the Robot Operating System (ROS) and the family of libraries that have grown up around it, ease the process by which researchers and students can create integrated, working systems. This has allowed those who have little experience or academic interest in areas like software engineering, communications or artificial intelligence, to make use of others' contributions and build on them in their own areas of expertise. The Open Academic Robot Kit seeks to foster a similar community around open hardware designs for flexible, customised, low cost academic and research robots. It leverages recent advances in 3D printing and the mass production of microcontroller boards, sensors, smart servos and other components for the Maker community. The emphasis is on the ease with which other researchers, students and members of the wider hobbyist and Maker communities, in different fields, may contribute, replicate and extend the designs.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"47 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":"132448831","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: 13
Emergency landing for a quadrotor in case of a propeller failure: A PID based approach 螺旋桨故障情况下四旋翼飞机的紧急降落:基于PID的方法
2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017647
V. Lippiello, Fabio Ruggiero, Diana Serra
{"title":"Emergency landing for a quadrotor in case of a propeller failure: A PID based approach","authors":"V. Lippiello, Fabio Ruggiero, Diana Serra","doi":"10.1109/SSRR.2014.7017647","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017647","url":null,"abstract":"A controller dealing with the failure of a quadrotor's motor is presented in this paper. Supposing that the failure has been already detected by the system, the quadrotor is modelled as a birotor with fixed propellers and it is controlled to follow a planned emergency landing trajectory. Theory shows that, in such a configuration, the aerial vehicle is allowed to reach any position in the Cartesian space dropping the possibility to control the yaw angle. Simulations are presented to confirm the presented methodology.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"1 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":"130284485","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: 45
An interdisciplinary approach to autonomous team-based exploration in disaster scenarios 灾害情景下自主团队探索的跨学科方法
2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017655
Björn Gernert, S. Schildt, L. Wolf, B. Zeise, Paul Fritsche, Bernardo Wagner, Maksims Fiosins, Ramin Safar Manesh, J. Müller
{"title":"An interdisciplinary approach to autonomous team-based exploration in disaster scenarios","authors":"Björn Gernert, S. Schildt, L. Wolf, B. Zeise, Paul Fritsche, Bernardo Wagner, Maksims Fiosins, Ramin Safar Manesh, J. Müller","doi":"10.1109/SSRR.2014.7017655","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017655","url":null,"abstract":"Autonomous robots can be used to perform reconnaissance missions in disaster scenarios when the safety of humans cannot be guaranteed. We developed an interdisciplinary approach to autonomous team-based exploration in such settings. The introduced system architecture consists of robust communication and reactive task allocation, built upon a research robot platform. A team of robots autonomously executes exploration tasks deploying a long-term sensor network. All robots and sensors are linked through the so-called distributed common information model (dCIM), which is the global knowledge base of our system. It enables the robots to share a unified environment model and to perform dynamic task scheduling. All key soft-and hardware elements presented in this paper have been prototypically implemented and tested.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"101 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":"115428894","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: 12
Semi-autonomous centipede-like robot with flexible legs 腿灵活的半自主蜈蚣机器人
2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017667
M. Masuda, Kazuyuki Ito
{"title":"Semi-autonomous centipede-like robot with flexible legs","authors":"M. Masuda, Kazuyuki Ito","doi":"10.1109/SSRR.2014.7017667","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017667","url":null,"abstract":"In this paper, we focus on a centipede. The defining characteristics of a centipede are its thin, long shape and many legs. The thin shape enables it to move into narrow spaces, and its length and many legs endow it with excellent mobility. However, when designing its robotic counterpart, these features cause operational disadvantages. In general, it is very difficult to control the many degrees of freedom adapting to complex environments such as rubble. The main objective of our research was determining how to address this disadvantage without sacrificing the benefits. We observed the movements of a real centipede and found that the key to realizing this is flexibility. Since the flexible body and legs adapt passively to the bumps of the environment, a centipede only has to perform regular locomotive patterns such as wave-like motion. In this paper, we propose a flexible mechanism for a multi-legged robot that can adapt to a rubble-heavy environment, and we demonstrate that the robot achieves mobility without complicated controls.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"25 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":"132623553","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
Aerial-guided navigation of a ground robot among movable obstacles 地面机器人在可移动障碍物之间的空中导航
2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017662
Elias Mueggler, Matthias Faessler, Flavio Fontana, D. Scaramuzza
{"title":"Aerial-guided navigation of a ground robot among movable obstacles","authors":"Elias Mueggler, Matthias Faessler, Flavio Fontana, D. Scaramuzza","doi":"10.1109/SSRR.2014.7017662","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017662","url":null,"abstract":"We demonstrate the fully autonomous collaboration of an aerial and a ground robot in a mock-up disaster scenario. Within this collaboration, we make use of the individual capabilities and strengths of both robots. The aerial robot first maps an area of interest, then it computes the fastest mission for the ground robot to reach a spotted victim and deliver a first-aid kit. Such a mission includes driving and removing obstacles in the way while being constantly monitored and commanded by the aerial robot. Our mission-planning algorithm distinguishes between movable and fixed obstacles and considers both the time for driving and removing obstacles. The entire mission is executed without any human interaction once the aerial robot is launched and requires a minimal amount of communication between the robots. We describe both the hardware and software of our system and detail our mission-planning algorithm. We present exhaustive results of both simulation and real experiments. Our system was successfully demonstrated more than 20 times at a trade fair.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"52 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":"127313078","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: 64
Frontier based exploration with task cancellation 基于边界的探索与任务取消
2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017658
P. Senarathne, Danwei W. Wang
{"title":"Frontier based exploration with task cancellation","authors":"P. Senarathne, Danwei W. Wang","doi":"10.1109/SSRR.2014.7017658","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017658","url":null,"abstract":"Traditional frontier based exploration strategies operate by iteratively selecting the next best sensing location myopically and moving to the specified location, until the entire environment is explored. And it does not consider the new information added to the map through continuous observations by the robot along the way to a selected location. This can sometimes lead to redundant traversal by the robot, such as traveling towards a dead-end when the nearby area is already mapped. In this work, we augment the traditional frontier based exploration strategy to include a probabilistic decision step that decides whether further motion on the planned path to the next sensing location is desirable or not. If the motion is not desirable, it is cancelled and a new sensing location is selected as the next sensing task. Simulation and real world experiments conducted in indoor and outdoor environments validate that the introduction of a sensing task cancellation step reduces the redundant motions of robots thus improves the efficiency of exploration missions, which is vital when used in time critical search and rescue robotic missions.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"284 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":"128856846","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
Image moments-based velocity estimation of UAVs in GPS denied environments GPS拒绝环境下基于图像矩的无人机速度估计
2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017659
Rafik Mebarki, V. Lippiello
{"title":"Image moments-based velocity estimation of UAVs in GPS denied environments","authors":"Rafik Mebarki, V. Lippiello","doi":"10.1109/SSRR.2014.7017659","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017659","url":null,"abstract":"This paper proposes a new method for quadrotor translational velocity estimation using only onboard sensing and without any prior knowledge on the geometry of the scene. Image moments extracted from the onboard camera images, together with onboard IMU data, are exploited in an Unscented Kalman filter (UKF). Differently with respect to the literature approaches, the proposed method is independent from the scale factor when considering a planar visual object. The estimation algorithm, in addition of involving matrices of constant size, does not require a well-textured environment, but can rather operate with few visual features. This makes it computationally-cheap, thus appealing for onboard applications. Experiments on a flying real quadrotor are carried out in a GPS-denied and poorly-textured environment in order to verify the validity of the proposed approach as well as its robustness to measurement noises and errors.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"130 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":"121332904","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: 17
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