Autonomous reconnaissance and surveillance in urban structures - Eurathlon 2013

Abstract

In this paper we propose an integrated hard- and software system for autonomous exploration and mapping of dilapidated buildings. The system is based on well understood approaches towards SLAM and exploration. Because of the real world nature of the application, a fragile wireless connection and difficult obstacles like staircases were taken into account during system design. Additionally, a drop-off system for Wi-Fi relays was introduced in order to increase the communication range. Further, a homing function is added to safely explore beyond radio coverage. Negative obstacles are handled using a tilted laserscanner. A semi-automatic stair climbing mechanism allows to travel between floors. The system is interconnected with a control station, giving an operator a fine grained control over the mission without disturbing the exploration and mapping task. The system was successfully tested at the Eurathlon 2013 robotics competition under real world conditions

Modular field robot deployment for inspection of dilapidated buildings

“…However, it is important to note that many UGVs used in USAR deployments are platforms adapted from operation in other environments due to the costs associated with singlepurpose robots (Balta et al, 2017). Both Murphy (2004) and Hoeller, Konigs, and Schulz (2014) have identified reconfigurability as an essential strategy for USAR platforms. Section 2.2 will explore existing examples of USAR robots that reconfigure through the use of articulation and modularity followed by platforms of note from outside of USAR.…”

“…Laying the tracks flat increases traction when on loose surfaces and increases stability on uneven terrain. Hoeller et al (2014) identify the drawbacks to this strategy as the increased platform dimensionality decrease manoeuvrability. Another example of articulation used by USAR platforms is the body-articulated snake platforms.…”

Real-time 3D Mobile Mapping for the Built Environment

“…LOAM (Lidar Odometry and Mapping in Real time) [16] is another approach for real-time SLAM but requires a spinning Lidar which is more expensive to achieve than a planar Lidar approach like Hector SLAM. There have been several studies which built on Hector SLAM to produce more accurate maps of indoor environments using external sensors [17][18][19][20]. Khan et al [20] proposed a data driven method, built on Hector SLAM, which models laser intensities and measures the surface reflectivity to augment a geometric model of the surrounding environment.…”

“…In this study, the method of [15] was built upon to obtain full 3D Lidar mapping. The goal is to achieve a more mapping-focused SLAM compared to navigation [19] or exploration [17]. This study also utilizes less sensory requirements compared to [13] and [16].…”