Collaborative mapping of an earthquake‐damaged building via ground and aerial robots

Michael, Nathan; Shen, Shaojie; Mohta, Kartik; Mulgaonkar, Yash; Kumar, Vijay; Nagatani, Keiji; Okada, Yoshito; Kiribayashi, Seiga; Otake, Kazuki; Yoshida, Kazuya; Ohno, Kazunori; Takeuchi, Eijiro; Tadokoro, Satoshı

doi:10.1002/rob.21436

Cited by 345 publications

(186 citation statements)

References 20 publications

Supporting

Mentioning

184

Contrasting

Unclassified

Order By: Relevance

“…The system and sensor models given by (1) and (2) are stochastically simulated with process and measurement noises set to Q = diag(5e −3 , 1e −5 , 1e −5 , 2e −2 ) and R = 0.05I 33 . Both the EKF and the IEKF were capable of successfully estimating the trajectory with comparably similar performance.…”

Section: Resultsmentioning

confidence: 99%

See 1 more Smart Citation

Relative localization with symmetry preserving observers

Silva

Mann

Gosine

2014

2014 IEEE 27th Canadian Conference on Electrical and Computer Engineering (CCECE)

View full text Add to dashboard Cite

Symmetry preserving observer design is a recently developed approach for deriving estimators which exploits the invariant properties of nonlinear systems. Multi-robot localization is inherently a system operating on SE(3), thereby posing an interesting problem for application of the filter. This paper presents an invariant extended Kalman filter design for the problem of multi-robot relative localization in 2.5D, for application in ground and aerial mobile platforms. A detailed derivation of the invariant filter is presented with numerical results analyzing its performance against a traditional EKF approach to the problem. The tracking errors, stability to random initialization and robustness to changing noise characteristics are evaluated. The strong geometric basis of the filter results in linear Kalman like gain convergence behavior which is desirable for numerical stability and applicability as a low cost scheduled gain observer to the problem.

show abstract

Section: Resultsmentioning

confidence: 99%

“…This enables the robots to cooperatively navigate in hostile environments where an external positioning service such as the GPS is unavailable [1]. A relative localization approach performs pose estimation by utilizing the inter-robot relative measurements in the team [2], [3].…”

Section: Introductionmentioning

confidence: 99%

Relative localization with symmetry preserving observers

Silva

Mann

Gosine

2014

2014 IEEE 27th Canadian Conference on Electrical and Computer Engineering (CCECE)

View full text Add to dashboard Cite

show abstract

“…Mapping is needed to be able to navigate, operate, and localize the sensed information. The mapping of damaged buildings in an earthquake situation using both ground and aerial robots is presented by [17], where the mapping results of several robots are combined to produce a three dimensional map. Similar robots could be integrated in the MUSAS, with the addition of other subsystems, delivering various other information sources, such as localization of people and objects.…”

Section: E Mapping and Search-and-rescue Roboticsmentioning

confidence: 99%

Localization Services for Online Common Operational Picture and Situation Awareness

et al. 2013

View full text Add to dashboard Cite

Many operations, be they military, police, rescue, or other field operations, require localization services and online situation awareness to make them effective. Questions such as how many people are inside a building and their locations are essential. In this paper, an online localization and situation awareness system is presented, called Mobile Urban Situation Awareness System (MUSAS), for gathering and maintaining localization information, to form a common operational picture. The MUSAS provides multiple localization services, as well as visualization of other sensor data, in a common frame of reference. The information and common operational picture of the system is conveyed to all parties involved in the operation, the field team, and people in the command post. In this paper, a general system architecture for enabling localization based situation awareness is designed and the MUSAS system solution is presented. The developed subsystem components and forming of the common operational picture are summarized, and the future potential of the system for various scenarios is discussed. In the demonstration, the MUSAS is deployed to an unknown building, in an ad hoc fashion, to provide situation awareness in an urban indoor military operation.

show abstract

“…On the other hand, the disadvantage of flying robots is the limited operating time and relatively small payload. 'Pelican' [13] is quad-rotor robot, which can generate a three-dimensional map of the inside of a building.…”

Section: Introductionmentioning

confidence: 99%

Development of snake-like robot ACM-R8 with large and mono-tread wheel

2015

View full text Add to dashboard Cite

One of the important advantages of an active wheeled snake-like robots is that it can access narrow spaces which are inaccessible to other types of robot (such as crawlers, walking robots), since snake-like robots have an elongated, narrow body. Additionally, in areas with rubble, snake-like robots can traverse rough terrain and large obstacles since its body can conform to the terrain's contours. 'ACM-R8' is a new snake-like robot which can climb stairs and reach doorknobs in addition to the features explained above. To fulfill these functions, the design of this robot incorporates several key features: joints with parallel link mechanism, mono-tread wheels with internal structure, force sensors and 'swing-grousers' which were developed to improve step climbability. In this paper, the design and control methods are described. Experiments confirmed high mobility on stairs and steps, with the robot succeeding in overcoming a step height of 600 mm, despite the height of the robot being just 300 mm.

show abstract

Collaborative mapping of an earthquake‐damaged building via ground and aerial robots

Cited by 345 publications

References 20 publications

Relative localization with symmetry preserving observers

Relative localization with symmetry preserving observers

Localization Services for Online Common Operational Picture and Situation Awareness

Development of snake-like robot ACM-R8 with large and mono-tread wheel

Contact Info

Product

Resources

About