Autonomous robots for harsh environments: a holistic overview of current solutions and ongoing challenges

Abstract

This paper presents a holistic overview of robotics and autonomous systems developed for applications in harsh environments where interactions with robots are difficult to model due to reasons such as dynamics, uncertainty, complexity and unpredictability. Robots of different characteristics and designs are required to perform different tasks within these environments. A number of classes of robots emerge as particularly favoured by the research community for solving challenging problems in difficult environments. Key examples of these deployments are studied with an analysis on how high-level autonomy is a key issue that must be addressed. The surveyed work suggest that the lack of observable autonomy in many systems are a consequence of both the complexity of the problem and the lack of proven reliability of autonomous solutions for applications that demand high success rates. This paper provides a broad and general overview of autonomous robots deployed in harsh environments and the commonalities of the challenges and existing solutions across application areas, including oil and gas inspection, space exploration, deep-sea operations and search and rescue. ARTICLE HISTORY

Gamma-Ray Sensor Using YAlO3(Ce) Single Crystal and CNT/PEEK with High Sensitivity and Stability under Harsh Underwater Conditions

“…Kang et al conducted a stress and buckling analysis of a ray-type hull structure of a new underwater glider based on carbon fiber, being lighter and stronger than duralumin [ 17 ]. Wong et al reported that operability under sea ice conditions, localization without GPS, vehicles based on multi thrusters, and intelligent manipulation skills have been the key technologies of autonomous robotics for deep-sea conditions [ 18 ].…”

Application of Sustainability Principles for Harsh Environment Exploration by Autonomous Robot

“…Therefore, when the paradigm is introduced to the manufacturing system, each factor is addressed at every stage of the product life cycle-design phase, manufacture phase, usage phase scenarios, UGVs are often required to perform in harsh environments, that are unreachable or too dangerous for humans, such as in Fukushima Daiichi event [12]. These environments can be irradiated, flooded, have spreading fire source, high explosion or structural collapse risk [13]. Commonly in these situations, no initial knowledge about the operating environment is given to the autonomous mobile agent.…”

A New Coverage Flight Path Planning Algorithm Based on Footprint Sweep Fitting for Unmanned Aerial Vehicle Navigation in Urban Environments

“…The modern UAVs have the ability to carry a variety of payloads' equipment to perform desired missions with realtime processing. The UAV market in experiencing an exponential growth due to the wide range of the practical applications in hazardous, uncertain and threatening areas [2]. Recently, due to the integration of internet of things and cloud technologies with the UAV the application scenarios of UAVs are becoming more and more advance [3].…”