TU Darmstadt / ULB / TUbiblio

Towards Highly Reliable Autonomy for Urban Search and Rescue Robots

Kohlbrecher, Stefan and Kunz, Florian and Koert, Dorothea and Rose, Christian and Manns, Paul and Daun, Kevin and Schubert, Johannes and Stumpf, Alexander and Stryk, Oskar von (2015):
Towards Highly Reliable Autonomy for Urban Search and Rescue Robots.
In: RoboCup 2014: Robot World Cup XVIII, Springer, In: Lecture Notes in Artificial Intelligence (LNAI), [Online-Edition: https://www.springer.com/br/book/9783319186146],
[Conference or Workshop Item]

Abstract

This paper describes the approach used by Team Hector Darmstadt for participation in the 2015 RoboCup Rescue League competition. Participating in the RoboCup Rescue competition since 2009, the members of Team Hector Darmstadt focus on exploration of disaster sites using autonomous Unmanned Ground Vehicles (UGVs). The team has been established as part of a PhD program funded by the German Research Foundation at TU Darmstadt and combines expertise from Computer Science and Mechanical Engineering. We give an overview of the complete system used to solve the problem of reliably finding victims in harsh USAR environments. This includes hardware as well as software solutions and diverse topics like locomotion, SLAM, pose estimation, human robot interaction and victim detection. In 2015, the team focuses on improving the rough terrain motion capabilities of used platforms as well as manipulation capabilities. As a contribution to the RoboCup Rescue community, major parts of the used software have been released and documented as open source software for ROS.

Item Type: Conference or Workshop Item
Erschienen: 2015
Creators: Kohlbrecher, Stefan and Kunz, Florian and Koert, Dorothea and Rose, Christian and Manns, Paul and Daun, Kevin and Schubert, Johannes and Stumpf, Alexander and Stryk, Oskar von
Title: Towards Highly Reliable Autonomy for Urban Search and Rescue Robots
Language: German
Abstract:

This paper describes the approach used by Team Hector Darmstadt for participation in the 2015 RoboCup Rescue League competition. Participating in the RoboCup Rescue competition since 2009, the members of Team Hector Darmstadt focus on exploration of disaster sites using autonomous Unmanned Ground Vehicles (UGVs). The team has been established as part of a PhD program funded by the German Research Foundation at TU Darmstadt and combines expertise from Computer Science and Mechanical Engineering. We give an overview of the complete system used to solve the problem of reliably finding victims in harsh USAR environments. This includes hardware as well as software solutions and diverse topics like locomotion, SLAM, pose estimation, human robot interaction and victim detection. In 2015, the team focuses on improving the rough terrain motion capabilities of used platforms as well as manipulation capabilities. As a contribution to the RoboCup Rescue community, major parts of the used software have been released and documented as open source software for ROS.

Title of Book: RoboCup 2014: Robot World Cup XVIII
Series Name: Lecture Notes in Artificial Intelligence (LNAI)
Volume: 8992
Publisher: Springer
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Official URL: https://www.springer.com/br/book/9783319186146
Identification Number: 2014_rc_towards_highly_reliable
Export:

Optionen (nur für Redakteure)

View Item View Item