Search and Rescue Robotics

Murphy, Robin R.; Tadokoro, Satoshı; Nardi, Daniele; Jacoff, Adam; Fiorini, Paolo; Choset, Howie; Erkmen, Aydan M.

doi:10.1007/978-3-540-30301-5_51

Cited by 276 publications

(192 citation statements)

References 35 publications

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“…This architecture consists of a mobile device with sensors, typically a consumer smart phone or tablet, and a remote server, or cluster of servers, with hardware optimised to efficiently compute SLAM solutions [1].…”

Section: ) Common Architectures A) Client-server and Cloud Model Slammentioning

confidence: 99%

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Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM

Wetherall

Taylor²,

Hurley-Smith

2015

2015 International Conference on Systems, Signals and Image Processing (IWSSIP)

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-Simultaneous Location and Mapping (SLAM) is computationally expensive, and requires high-fidelity sensor data. This paper investigates the effects of transmission channel fidelity loss in Red-Green-Blue-Depth (RGBD) sensor data. A mobile robotic platform developed for Explosive Ordinance Disposal (EOD) is used, with a highly constrained data and video link to a base station which computes a SLAM solution. Experiments were conducted offline, using well known data-sets with ground truth data, and their results have been compared to determine the effect of fidelity loss under various multiplexing approaches with a constrained transmission channel.

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Section: ) Common Architectures A) Client-server and Cloud Model Slammentioning

confidence: 99%

“…Similar UGV systems are used in Search and Rescue (SAR) and environments that are too hazardous for direct human reconnaissance, for example in response to Chemical, Biological, Radiological or Nuclear (CBRN) accidents [1].…”

Section: Introductionmentioning

confidence: 99%

Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM

Wetherall

Taylor²,

Hurley-Smith

2015

2015 International Conference on Systems, Signals and Image Processing (IWSSIP)

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“…As a typical application of our second task, autonomous stairwell ascent, a robot endowed with this capability could reach otherwise inaccessible portions of an abandoned or damaged building environment. In both settings automating the robot's mobility to the extent of removing the detailed challenges of the local terrain from the burden on human attention (as well as on the communications channel bandwidth) further promotes its use in communications-denied or -limited environments [8].…”

Section: A Motivationmentioning

confidence: 99%

“…Assuming that k s > δ sin φ, this stabilizes the robot's heading angle around the true steepest ascent direction. The solid blue lines in Figure 3 record experiments using the robot with this controller, on the same hill as before, with a wide variety of initial angles (including one facing directly downhill) forced successfully toward the heading of steepest ascent 8 . It is intuitively clear (but, adhering to the intended informal scope of the present paper, we will not rigorously prove) that this controller yields a closed loop system when applied to the unicycle plant model, equations (1)- (4), respecting which the terrain height, η, represents a LaSalle function 4 This pitch change can be easily derived from the geometry of the C-shaped legs.…”

Section: Description Of Autonomous Behaviorsmentioning

confidence: 99%

Autonomous legged hill and stairwell ascent

Johnson

Hale

Haynes

et al. 2011

2011 IEEE International Symposium on Safety, Security, and Rescue Robotics

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This paper documents near-autonomous negotiation of synthetic and natural climbing terrain by a rugged legged robot, achieved through sequential composition of appropriate perceptually triggered locomotion primitives. The first, simple composition achieves autonomous uphill climbs in unstructured outdoor terrain while avoiding surrounding obstacles such as trees and bushes. The second, slightly more complex composition achieves autonomous stairwell climbing in a variety of different buildings. In both cases, the intrinsic motor competence of the legged platform requires only small amounts of sensory information to yield near-complete autonomy. Both of these behaviors were developed using X-RHex, a new revision of RHex that is a laboratory on legs, allowing a style of rapid development of sensorimotor tasks with a convenience near to that of conducting experiments on a lab bench. Applications of this work include urban search and rescue as well as reconnaissance operations in which robust yet simple-to-implement autonomy allows a robot access to difficult environments with little burden to a human operator. Abstract -This paper documents near-autonomous negotiation of synthetic and natural climbing terrain by a rugged legged robot, achieved through sequential composition of appropriate perceptually triggered locomotion primitives. The first, simple composition achieves autonomous uphill climbs in unstructured outdoor terrain while avoiding surrounding obstacles such as trees and bushes. The second, slightly more complex composition achieves autonomous stairwell climbing in a variety of different buildings. In both cases, the intrinsic motor competence of the legged platform requires only small amounts of sensory information to yield near-complete autonomy. Both of these behaviors were developed using X-RHex, a new revision of RHex that is a laboratory on legs, allowing a style of rapid development of sensorimotor tasks with a convenience near to that of conducting experiments on a lab bench. Applications of this work include urban search and rescue as well as reconnaissance operations in which robust yet simple-to-implement autonomy allows a robot access to difficult environments with little burden to a human operator.

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“…For instance, a remote human might supervise a distributed team of robots to perform a task (e.g. disaster response or search and rescue, Bluethmann et al 2004;Murphy et al 2008). In addition, co-located teamwork has been explored such as a human and a robot working side by side (Adams et al 2009), or a team of humans and robots working in the same area to assemble a structure (Fong et al 2005).…”

Section: Introductionmentioning

confidence: 99%

Role of expressive behaviour for robots that learn from people

Breazeal¹

2009

Phil. Trans. R. Soc. B

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Robotics has traditionally focused on developing intelligent machines that can manipulate and interact with objects. The promise of personal robots, however, challenges researchers to develop socially intelligent robots that can collaborate with people to do things. In the future, robots are envisioned to assist people with a wide range of activities such as domestic chores, helping elders to live independently longer, serving a therapeutic role to help children with autism, assisting people undergoing physical rehabilitation and much more. Many of these activities shall require robots to learn new tasks, skills and individual preferences while 'on the job' from people with little expertise in the underlying technology. This paper identifies four key challenges in developing social robots that can learn from natural interpersonal interaction. The author highlights the important role that expressive behaviour plays in this process, drawing on examples from the past 8 years of her research group, the Personal Robots Group at the MIT Media Lab.

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Search and Rescue Robotics

Cited by 276 publications

References 35 publications

Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM

Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM

Autonomous legged hill and stairwell ascent

Role of expressive behaviour for robots that learn from people

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