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RoboCupRescue 2014 - Robot League Team Hector Darmstadt (Germany)

Kohlbrecher, Stefan and Meyer, Johannes and Graber, Thorsten and Petersen, Karen and Stryk, Oskar von and Klingauf, Uwe (2014):
RoboCupRescue 2014 - Robot League Team Hector Darmstadt (Germany).
[Report]

Abstract

This paper describes the approach used by Team Hector Darmstadt for participation in the 2014 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 2014, the team focuses on integration of newly acquired highly mobile tracked robot 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: Report
Erschienen: 2014
Creators: Kohlbrecher, Stefan and Meyer, Johannes and Graber, Thorsten and Petersen, Karen and Stryk, Oskar von and Klingauf, Uwe
Title: RoboCupRescue 2014 - Robot League Team Hector Darmstadt (Germany)
Language: English
Abstract:

This paper describes the approach used by Team Hector Darmstadt for participation in the 2014 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 2014, the team focuses on integration of newly acquired highly mobile tracked robot 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.

Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute of Flight Systems and Automatic Control (FSR)
16 Department of Mechanical Engineering > Institute of Flight Systems and Automatic Control (FSR) > Air Traffic Management
20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Identification Number: 2014:hector_rescue_tdp
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