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RoboCupRescue 2012 - Robot League Team Hector Darmstadt (Germany)

Graber, Thorsten and Kohlbrecher, Stefan and Meyer, Johannes and Petersen, Karen and Stryk, Oskar von and Klingauf, Uwe and Stryk, Oskar von (2012):
RoboCupRescue 2012 - Robot League Team Hector Darmstadt (Germany).
[Report]

Abstract

This paper describes the approach used by Team Hector Darmstadt for participation in the 2012 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. 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: 2012
Creators: Graber, Thorsten and Kohlbrecher, Stefan and Meyer, Johannes and Petersen, Karen and Stryk, Oskar von and Klingauf, Uwe and Stryk, Oskar von
Title: RoboCupRescue 2012 - Robot League Team Hector Darmstadt (Germany)
Language: English
Abstract:

This paper describes the approach used by Team Hector Darmstadt for participation in the 2012 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. 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: 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: 2012:rescue_tdp
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