Detail publikace

Multi-Robot System for Disaster Area Exploration

BURIAN, F. ŽALUD, L. KOCMANOVÁ, P. JÍLEK, T. KOPEČNÝ, L.

Originální název

Multi-Robot System for Disaster Area Exploration

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

CASSANDRA robotic system developed at LTR s.r.o. company and Brno University of Technology is described. The system contains operator's station controlled with one operator and a couple of robots – small and big ground robots, flying robots (quadrocopters), and mapping robot. The robots are primarily controlled by the operator with advanced user interface with visual telepresence and augmented reality. Nevertheless the robots include the possibility of semi-autonomous operation based on self-localisation. User interface consists of a computer, joypad, head-mounted display with inertial head-tracker, communication device, and Cassandra software developed by our team in Microsoft .NET. Orpheus class robots are described in the text. The robots are made to be reliable and to be able to work in extreme conditions, they are tested by a series of MIL-STD military tests for environmental parameters, EMC, vibrations and shocks, contamination/decontamination, etc. Orpheus-X3 is a general US&R robot with enhanced victim search capabilities, Orpheus-HOPE is made for water contamination measurements, Orpheus-AC2 is a ruggedized version for environmental parameter measurement. Two flying drones developed completely by our team are described, as well as envMap mapping robot for real-time construction of spatial digital maps with texture mapping. All the robots can be controlled with help of visual telepresence and augmented reality - that makes robot control much more intuitive, and lets the rescuer to concentrate on the mission itself. The control station may be used as a self-containing wearable system. Fusion system with multispectral measurement containing tricolor cameras, thermal imagers and TOF camera is described.

Klíčová slova

robot, user interface, telepresence, augmented reality, data fusion

Autoři

BURIAN, F.; ŽALUD, L.; KOCMANOVÁ, P.; JÍLEK, T.; KOPEČNÝ, L.

Rok RIV

2014

Vydáno

18. 6. 2014

Nakladatel

WIT Press

Místo

Great Britain

ISBN

978-1-84564-785-8

Kniha

Flood Recovery, Innovation and Response IV

Strany od

263

Strany do

274

Strany počet

12

BibTex

@inproceedings{BUT109479,
  author="František {Burian} and Luděk {Žalud} and Petra {Kalvodová} and Tomáš {Jílek} and Lukáš {Kopečný}",
  title="Multi-Robot System for Disaster Area Exploration",
  booktitle="Flood Recovery, Innovation and Response IV",
  year="2014",
  pages="263--274",
  publisher="WIT Press",
  address="Great Britain",
  doi="10.2495/FRIAR140221",
  isbn="978-1-84564-785-8"
}