Publication detail

Multi-Robotic Area Exploration for Environmental Protection

LÁZNA, T. JÍLEK, T. GÁBRLÍK, P. ŽALUD, L.

Original Title

Multi-Robotic Area Exploration for Environmental Protection

English Title

Multi-Robotic Area Exploration for Environmental Protection

Type

conference paper

Language

en

Original Abstract

The paper discusses methods allowing a multi-robotic system to perform fully autonomous exploration and mapping of a defined area. The output of the operating cycle is a 3D map of the given area including relevant environmental parameters, or, in our case, the intensity of gamma radiation. The main motivation behind the scheme characterized herein arises from the intensive demand within Industry 4.0 for autonomous area-guarding around key industrial objects, such as nuclear power plants, chemical facilities, and hi-tech factories. The actual approach is demonstrated on an ATEROS (Autonomous Telepresence Robotic System) developed by our research team; the concept is highly versatile, and we believe it can be used in wide spectrum of multi-agent robotic systems. We describe the task of aerial 3D mapping through a light unmanned aerial vehicle (UAV), complemented with the ground mapping of the gamma radiation intensities; in more general terms, the assignment can be referred to as radiation source search through an unmanned ground vehicle (UGV). All the data have to be geo-referenced to form an applicable output.

English abstract

The paper discusses methods allowing a multi-robotic system to perform fully autonomous exploration and mapping of a defined area. The output of the operating cycle is a 3D map of the given area including relevant environmental parameters, or, in our case, the intensity of gamma radiation. The main motivation behind the scheme characterized herein arises from the intensive demand within Industry 4.0 for autonomous area-guarding around key industrial objects, such as nuclear power plants, chemical facilities, and hi-tech factories. The actual approach is demonstrated on an ATEROS (Autonomous Telepresence Robotic System) developed by our research team; the concept is highly versatile, and we believe it can be used in wide spectrum of multi-agent robotic systems. We describe the task of aerial 3D mapping through a light unmanned aerial vehicle (UAV), complemented with the ground mapping of the gamma radiation intensities; in more general terms, the assignment can be referred to as radiation source search through an unmanned ground vehicle (UGV). All the data have to be geo-referenced to form an applicable output.

Keywords

Mobile robot, UAV, UGV, gamma radiation, localization, aerial mapping, self-localization, navigation, robot cooperation

Released

01.08.2017

Publisher

Springer, Cham

ISBN

978-3-319-64634-3

Book

Industrial Applications of Holonic and Multi-Agent Systems

Pages from

240

Pages to

254

Pages count

15

URL

Documents

BibTex


@inproceedings{BUT139202,
  author="Tomáš {Lázna} and Tomáš {Jílek} and Petr {Gábrlík} and Luděk {Žalud}",
  title="Multi-Robotic Area Exploration for Environmental Protection",
  annote="The paper discusses methods allowing a multi-robotic system to perform fully autonomous exploration and mapping of a defined area. The output of the operating cycle is a 3D map of the given area including relevant environmental parameters, or, in our case, the intensity of gamma radiation. The main motivation behind the scheme characterized herein arises from the intensive demand within Industry 4.0 for autonomous area-guarding around key industrial objects, such as nuclear power plants, chemical facilities, and hi-tech factories. The actual approach is demonstrated on an ATEROS (Autonomous Telepresence Robotic System) developed by our research team; the concept is highly versatile, and we believe it can be used in wide spectrum of multi-agent robotic systems. 
We describe the task of aerial 3D mapping through a light unmanned aerial vehicle (UAV), complemented with the ground mapping of the gamma radiation intensities; in more general terms, the assignment can be referred to as radiation source search through an unmanned ground vehicle (UGV). All the data have to be geo-referenced to form an applicable output.",
  address="Springer, Cham",
  booktitle="Industrial Applications of Holonic and Multi-Agent Systems",
  chapter="139202",
  doi="10.1007/978-3-319-64635-0_18",
  howpublished="print",
  institution="Springer, Cham",
  year="2017",
  month="august",
  pages="240--254",
  publisher="Springer, Cham",
  type="conference paper"
}