2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)最新文献_第6页

Safe teleoperation of a quadrotor using FastSLAM 安全远程操作的四旋翼使用FastSLAM

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523878

J. Mendes, R. Ventura

{"title":"Safe teleoperation of a quadrotor using FastSLAM","authors":"J. Mendes, R. Ventura","doi":"10.1109/SSRR.2012.6523878","DOIUrl":"https://doi.org/10.1109/SSRR.2012.6523878","url":null,"abstract":"Unmanned Aerial Vehicles (UAV) provide many advantages in Search and Rescue (SaR) scenarios, such as the capacity for remote inspection over areas that are difficult to reach by ground vehicles. Moreover, it can carry small payloads, such as first aid equipment, over large distances. However, the teleoperation of UAVs often demands extensive training, since even well trained pilots are prone to mistakes, resulting frequently in collisions of the vehicle with obstacles. This paper presents a method to assist the tele-operation of a quadrotor using an obstacle avoidance approach. The target scenario is SaR operation in unknown, unstructured, GPS-denied environments, such as warehouses or other buildings. A short-term rough map of the nearby environment is constructed using sonar sensors. This map is constructed using FastSLAM to allow tracking of the vehicle position with respect to the map. The map is then used to (1) override operator commands that may lead to a collision, and (2) perform evasive maneuvers whenever collision is imminent. A simple active perception routine is used to orient one of the sensors to an unknown area, in case the UAV is ordered to move towards an unmapped area. Experimental results using the USARsim simulator are presented. Further testing was conducted in a real quadcopter, allowing a preliminary validation of the proposed methods.","PeriodicalId":408300,"journal":{"name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"124 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":"122484035","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

Dog and snake marsupial cooperation for urban search and rescue deployment 狗和蛇的有袋动物合作的城市搜索和救援部署

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523887

A. Ferworn, Cornell Wright, Jimmy Tran, Chao Li, H. Choset

引用次数: 25

Discoveries from integrating robots into SWAT team training exercises 将机器人融入特种部队训练演习的发现

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523920

Cindy L. Bethel, Daniel W. Carruth, Teena M. Garrison

引用次数: 15

Underground mining robot: A CSIR project 地下采矿机器人:CSIR项目

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523868

Jeremy J. Green

{"title":"Underground mining robot: A CSIR project","authors":"Jeremy J. Green","doi":"10.1109/SSRR.2012.6523868","DOIUrl":"https://doi.org/10.1109/SSRR.2012.6523868","url":null,"abstract":"The Council for Scientific and Industrial Research (CSIR) in South Africa is currently developing a robot for the inspection of the ceiling (hanging-wall) in an underground gold mine. The robot autonomously navigates the 30 meter long by 3 meter wide, by 1 meter high stope area, while scanning the hanging-wall to generate a thermal 3-D map. Data is then analyzed to identify cooler regions that are not consistent with the hanging-wall topography. These are then shown to the miners in a 3-D visualization environment such that remedial action can be taken, and all miners are aware of the potentially dangerous areas in the working area. The project is a collaborative effort between three units within the CSIR. The Centre for Mining Innovation (CMI) is the project lead unit and is developing the sensors needed for underground data acquisition related to the safety application. The body of the robot is being developed by the Mechatronics and Micro-Manufacturing (MMM) group. The software component is being developed by the Mobile Intelligent Autonomous Systems (MIAS) Group. The project is currently completing the technical prototype for the system that will be demonstrated in a specially constructed test facility.1.","PeriodicalId":408300,"journal":{"name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"256 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":"133282033","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

Asymmetric velocity moderation: A reactive strategy for human safety 不对称速度调节:人类安全的反应策略

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523904

G. A. G. Ricardez, Akihiko Yamaguchi, J. Takamatsu, T. Ogasawara

{"title":"Asymmetric velocity moderation: A reactive strategy for human safety","authors":"G. A. G. Ricardez, Akihiko Yamaguchi, J. Takamatsu, T. Ogasawara","doi":"10.1109/SSRR.2012.6523904","DOIUrl":"https://doi.org/10.1109/SSRR.2012.6523904","url":null,"abstract":"As Human-Robot Interaction becomes closer, it is necessary to seek human safety so that the robot does not harm the human when the human ventures into the robot's workspace. Therefore, we propose a reactive strategy for human safety called Asymmetric Velocity Moderation. Our proposed method restricts the velocity of the end-effector according to the distance between human and robot. Moreover, our method considers the displacement vector which is the vector formed by the closest points between human and robot. Therefore, we do not consider only the distance but also the direction. The reason to consider the direction is that even though the velocity directed towards the human should be firmly restricted if the distance is short, we can relax the restriction of the velocity directed away from the human even if the distance is short. Thus, by introducing the angle between the displacement vector and the end-effector velocity vector we can improve the trade-off between safety and efficiency. We carried out experiments with a human-size humanoid robot and a human subject standing next to each other, and made them perform independent tasks. Through these experiments, we verified that our method not only provides human safety but also copes with the trade-off between human safety and the efficiency of the robot when performing a task.","PeriodicalId":408300,"journal":{"name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"24 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":"121390903","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

Consistent decentralized graphical SLAM with anti-factor down-dating 一致分散图形SLAM与抗因子下降日期

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523910

Alexander G. Cunningham, V. Indelman, F. Dellaert

引用次数: 1

GPS-INS-BARO hybrid navigation system taking into account ground effect for autonomous unmanned helicopter 考虑地面效应的自主无人直升机GPS-INS-BARO混合导航系统

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523885

H. Nakanishi, S. Kanata, T. Sawaragi

{"title":"GPS-INS-BARO hybrid navigation system taking into account ground effect for autonomous unmanned helicopter","authors":"H. Nakanishi, S. Kanata, T. Sawaragi","doi":"10.1109/SSRR.2012.6523885","DOIUrl":"https://doi.org/10.1109/SSRR.2012.6523885","url":null,"abstract":"Autonomous unmanned helicopters are useful in disaster response activities, but their reliability needs improvement to broaden its application area. GPS-INS hybrid navigation systems using Kalman Filter have been used to improve the reliability of autonomous unmanned helicopters, but they are not robust against the absence of GPS measurements. The vertical accuracy of GPS measurement is less than horizontal ones. The vertical channel of INS is unstable. Adding the altitude sensor to GPS-INS hybrid navigation system is expected to increase the accuracy and improve reliability. Barometric altimeter is not so accurate, but it is widely used because of its convenience. For unmanned helicopters, though, it is known that the barometer altitude deviate downward from the actual altitude, where the helicopter is close to the ground. This phenomena is due to the ground effect. This paper describes the method to build GPS-INS-BARO hybrid navigation system, which takes into account the ground effect for the autonomous unmanned helicopter. We adopted a centralized approach to integrate different sensors with asynchronous measurement updates. The parameter sets for successful estimation were shown using numerical simulation results.","PeriodicalId":408300,"journal":{"name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"46 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":"133108017","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

Planning random path distributions for ambush games in unstructured environments 非结构化环境下伏击游戏的随机路径分布规划

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-08-27 DOI: 10.1109/SSRR.2012.6523899

Emmanuel Boidot, E. Feron

引用次数: 3