2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)最新文献

Hazardous workspace modeling for manipulators using spatial hazard functions 基于空间危险函数的机械臂危险工作空间建模

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-12-01 DOI: 10.1109/SSRR.2012.6523880

Brian O'Neil, Cheryl Brabec, M. Pryor

{"title":"Hazardous workspace modeling for manipulators using spatial hazard functions","authors":"Brian O'Neil, Cheryl Brabec, M. Pryor","doi":"10.1109/SSRR.2012.6523880","DOIUrl":"https://doi.org/10.1109/SSRR.2012.6523880","url":null,"abstract":"This paper describes an approach to motion planning that includes hazards individually characterized as continuous functions of space. These functions contribute to a complex and discontinuous yet practical representation of the hazards found in a manipulator's workspace. The hazard model is a smoothed and scaled representation of the actual physical hazard sampled discretely over the robot's workspace. This research is primarily motivated to reduce damage to manipulators working in high-radiation environments, but is easily extended to other spatial hazards including heat sources, overlapping workspaces, etc. The gradient of the hazard function is used to generate a force that can be included by an artificial potential field motion planner easing its integration with other existing techniques used for obstacle avoidance, target acquisition, etc. The motion planner additionally scales the robot's velocity in proportion to the magnitude of the hazard model and determines the path. This results in a motion influenced in the direction of greatest hazard reduction at a speed that reduces the time the robot is subject to abnormally high hazard. These techniques are demonstrated on a port-deployed glovebox manipulator in a simulated hazardous environment. Over the course of a demonstration task, the radiation exposure to the robot is reduced by over 50%.","PeriodicalId":408300,"journal":{"name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128056094","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

Selecting a small unmanned air vehicle system using the DARPA crowdsourcing model 使用DARPA众包模型选择小型无人飞行器系统

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-05 DOI: 10.1109/SSRR.2012.6523914

S. Prior, Mehmet Ali Erbil, Mantas Brazinskas, Witold Mielniczek

引用次数: 0

Social head gaze and proxemics scaling for an affective robot used in victim management 情感机器人在受害者管理中的社会头凝视和近距缩放

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523916

Vasant Srinivasan, Zachary Henkel, R. Murphy

引用次数: 1

Visual place recognition for multi-robots maps merging 多机器人地图合并的视觉位置识别

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523870

Zhao Li, S. R. U. N. Jafri, R. Chellali

{"title":"Visual place recognition for multi-robots maps merging","authors":"Zhao Li, S. R. U. N. Jafri, R. Chellali","doi":"10.1109/SSRR.2012.6523870","DOIUrl":"https://doi.org/10.1109/SSRR.2012.6523870","url":null,"abstract":"This paper presents a new approach allowing to a group of robots team to merge their individual maps without any a priori knowledge about their relative positions. While moving, each robot acquires laser data and a video stream. The first data are used to create individual maps (SLAM), while images sequences are used to derive invariant visual descriptions of the visited places. The later are then exchanged between robots to determine a probability of being close to each other and sharing a common place in order to initiate a map merging process. In such a way, ambiguous situations that usually occur when a single sensor is used are reduced. We present the solution we developed in order to extract a compact visual description that remains constant regardless to the actual pose of the robots. Two or more robots having such description can verify if they are or not present at the same place, before merging their respective individual maps. This scheme, e.g. the fusion of laser-range data and visual information enhances and accelerates the construction of the global map and consequently disambiguate individual maps. The validation of the approach has been performed on various indoor environments mainly, office-like spaces and houses.","PeriodicalId":408300,"journal":{"name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131244947","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: 7

MOTHERSHIP — A serpentine tread/limb hybrid marsupial robot for USAR 母舰- USAR的蛇形胎面/四肢混合有袋类机器人

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523893

Justin Huff, Stephen A. Conyers, R. Voyles

引用次数: 14

Multi-objective sensor-based replanning for a car-like robot 基于多目标传感器的仿车机器人重规划

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523898

D. Grady, Mark Moll, C. Hegde, Aswin C. Sankaranarayanan, Richard Baraniuk, L. Kavraki

{"title":"Multi-objective sensor-based replanning for a car-like robot","authors":"D. Grady, Mark Moll, C. Hegde, Aswin C. Sankaranarayanan, Richard Baraniuk, L. Kavraki","doi":"10.1109/SSRR.2012.6523898","DOIUrl":"https://doi.org/10.1109/SSRR.2012.6523898","url":null,"abstract":"This paper studies a core problem in multi-objective mission planning for robots governed by differential constraints. The problem considered is the following. A car-like robot computes a plan to move from a start configuration to a goal region. The robot is equipped with a sensor that can alert it if an anomaly appears within some range while the robot is moving. In that case, the robot tries to deviate from its computed path and gather more information about the target without incurring considerable delays in fulfilling its primary mission, which is to move to its final destination. This problem is important in, e.g., surveillance, where inspection of possible threats needs to be balanced with completing a nominal route. The paper presents a simple and intuitive framework to study the trade-offs present in the above problem. Our work utilizes a state-of-the-art sampling-based planner, which employs both a high-level discrete guide and low-level planning. We show that modifications to the distance function used by the planner and to the weights that the planner employs to compute the high-level guide can help the robot react online to new secondary objectives that were unknown at the outset of the mission. The modifications are computed using information obtained from a conventional camera model. We find that for small percentage increases in path length, the robot can achieve significant gains in information about an unexpected target.","PeriodicalId":408300,"journal":{"name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115797638","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: 6

Interactive mapping in 3D using RGB-D data 使用RGB-D数据的3D交互式映射

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523879

P. Vieira, R. Ventura

{"title":"Interactive mapping in 3D using RGB-D data","authors":"P. Vieira, R. Ventura","doi":"10.1109/SSRR.2012.6523879","DOIUrl":"https://doi.org/10.1109/SSRR.2012.6523879","url":null,"abstract":"The task of 3D mapping indoor environments in Search and Rescue missions can be very useful on providing detailed spacial informarion to human teams. This can be accomplished using field robots, equipped with sensors capable of obtaining depth and color data, such as the one provided by the Kinect sensor. Several methods have been proposed in the literature to address the problem of automatic 3D reconstruction from depth data. Most methods rely on the minimization of the matching error among individual depth frames. However, ambiguity in sensor data often leads to erroneous matching (due to local minima), hard to cope with in a purely automatic approach. This paper is targeted to 3D reconstruction from RGB-D data, and proposes a semi-automatic approach, denoted Interactive Mapping, involving a human operator in the process of detecting and correcting erroneous matches. Instead of allowing the operator complete freedom in correcting the matching in a frame by frame basis, the proposed method constrains human intervention along the degrees of freedom with most uncertainty. The user is able to translate and rotate individual RGB-D point clouds, with the help of a force field-like reaction to the movement of each point cloud. A dataset was obtained and used using a kinect equipped on the tracked wheel robot RAPOSA-NG, developed for Search and Rescue missions. Some preliminary results are presented, illustrating the advantages of the method.","PeriodicalId":408300,"journal":{"name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"28 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133701411","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: 6

The SHERPA project: Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments SHERPA项目:人类和地面-空中机器人之间的智能协作，以改善高山环境中的救援活动

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523905

L. Marconi, C. Melchiorri, M. Beetz, Dejan Pangercic, R. Siegwart, Stefan Leutenegger, R. Carloni, S. Stramigioli, H. Bruyninckx, P. Doherty, A. Kleiner, V. Lippiello, Alberto Finzi, B. Siciliano, A. Sala, N. Tomatis

{"title":"The SHERPA project: Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments","authors":"L. Marconi, C. Melchiorri, M. Beetz, Dejan Pangercic, R. Siegwart, Stefan Leutenegger, R. Carloni, S. Stramigioli, H. Bruyninckx, P. Doherty, A. Kleiner, V. Lippiello, Alberto Finzi, B. Siciliano, A. Sala, N. Tomatis","doi":"10.1109/SSRR.2012.6523905","DOIUrl":"https://doi.org/10.1109/SSRR.2012.6523905","url":null,"abstract":"The goal of the paper is to present the foreseen research activity of the European project “SHERPA” whose activities will start officially on February 1th 2013. The goal of SHERPA is to develop a mixed ground and aerial robotic platform to support search and rescue activities in a real-world hostile environment, like the alpine scenario that is specifically targeted in the project. Looking into the technological platform and the alpine rescuing scenario, we plan to address a number of research topics about cognition and control. What makes the project potentially very rich from a scientific viewpoint is the heterogeneity and the capabilities to be owned by the different actors of the SHERPA system: the human rescuer is the “busy genius”, working in team with the ground vehicle, as the “intelligent donkey”, and with the aerial platforms, i.e. the “trained wasps” and “patrolling hawks”. Indeed, the research activity focuses on how the “busy genius” and the “SHERPA animals” interact and collaborate with each other, with their own features and capabilities, toward the achievement of a common goal.","PeriodicalId":408300,"journal":{"name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"79 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131544240","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: 134

A short overview of recent advances in map evaluation 简要概述地图评价的最新进展

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523906

S. Schwertfeger, A. Birk

引用次数: 6

Proposal of EARLI for the snake robot's obstacle aided locomotion 蛇形机器人障碍辅助运动的EARLI算法的提出

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523889

T. Kamegawa, Ryoma Kuroki, M. Travers, H. Choset

引用次数: 18