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Hector Open Source Modules for Autonomous Mapping and Navigation with Rescue Robots

Kohlbrecher, Stefan and Meyer, Johannes and Graber, Thorsten and Petersen, Karen and Stryk, Oskar von and Klingauf, Uwe (2014):
Hector Open Source Modules for Autonomous Mapping and Navigation with Rescue Robots.
In: 17th RoboCup International Symposium, [Conference or Workshop Item]

Abstract

Key abilities for robots deployed in urban search and rescue tasks include autonomous exploration of disaster sites and recognition of victims and other objects of interest. In this paper, we present related open source software modules for the development of such complex capabilities which include hector slam for self-localization and mapping in a degraded urban environment. All modules have been successfully applied and tested originally in the RoboCup Rescue competition. Up to now they have already been re-used and adopted by numerous international research groups for a wide variety of tasks. Recently, they have also become part of the basis of a broader initiative for key open source software modules for urban search and rescue robots.

Item Type: Conference or Workshop Item
Erschienen: 2014
Creators: Kohlbrecher, Stefan and Meyer, Johannes and Graber, Thorsten and Petersen, Karen and Stryk, Oskar von and Klingauf, Uwe
Title: Hector Open Source Modules for Autonomous Mapping and Navigation with Rescue Robots
Language: English
Abstract:

Key abilities for robots deployed in urban search and rescue tasks include autonomous exploration of disaster sites and recognition of victims and other objects of interest. In this paper, we present related open source software modules for the development of such complex capabilities which include hector slam for self-localization and mapping in a degraded urban environment. All modules have been successfully applied and tested originally in the RoboCup Rescue competition. Up to now they have already been re-used and adopted by numerous international research groups for a wide variety of tasks. Recently, they have also become part of the basis of a broader initiative for key open source software modules for urban search and rescue robots.

Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute of Flight Systems and Automatic Control (FSR)
20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: 17th RoboCup International Symposium
Date Deposited: 18 Dec 2013 08:42
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