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Direct method for visual odometry has gained popularity, it needs not to compute feature descriptor and uses the actual values of camera sensors directly. Hence, it is very fast. However, its accuracy and consistency are not satisfactory. Based on these considerations, we propose a tightly-coupled, optimization-based method to fuse inertial measurement unit (IMU) and visual measurement, in which uses...
We introduce ProbLP, a probabilistic local planner, for safe navigation of an autonomous robot in dynamic, unknown, continuous, and cluttered environments. We combine the proposed reactive planner with an existing global planner and evaluate the hybrid in challenging simulated environments. The experiments show that our method achieves a 77% reduction in collisions over the straight-line local planner...
This paper deals with the problem of retrieving the optimal path between two points inside an unknown environment, utilizing a robot-scouter. The vast majority of the path planning frameworks for an unknown environment focuses on the problem of navigating a robot, as soon as possible, towards a pre-specified location. As a result, the final followed path between the start and end location is not necessarily...
Highly contaminated puddles were found outside the apparatus hatch in No.3 reactor building in Fukushima Daiichi NPS. These puddles indicated a possibility of cooling water leakage from Primary Containment Vessel (PCV). Therefore, it was necessary to survey whether there was a leakage or not. However surveying was impossible for human because of two main reasons, the narrow access route of 100mm width...
In recent natural disasters, robots have played an important role in search and rescue operations in places that are not easily accessible to humans. The key functions of robots in search and rescue operations are mobility in rough terrain, monitoring of surroundings when searching for victims, and creating disaster maps. A robot test field should provide reaction loops between operators, robots,...
This paper presents the development of an interface for small Unmanned Aerial Systems to allow the deployment of ignition spheres at a prescribed fire, real-time fire modeling, and user updates to the automated fire model. Current systems are limited to fire monitoring or modeling, generally rely on a desktop computer, and do not allow updates to the model nor parameter adjustments in the field. The...
In teleoperation of heavy machines, work efficiency will be 50% lower than manned operation because operators cannot obtain effective information about work sites due to the limitation of current monitoring systems. Operators would have opportunities to obtain such information before work (about a week required to introduce teleoperation systems) and during work. As a fundamental study to support...
Although the generation of 3D temperature maps has become a frequently used technique, not only in search and rescue applications but also during inspection tasks, the remote measurement of a surface's true temperature is still a huge challenge. In this work, we face the problem of creating corrected 3D temperature maps in unknown environments without prior knowledge of surface emissivities. Using...
We present a fully integrated autonomous multirobot aerial system for finding and collecting moving and static objects with unknown locations. This task addresses multiple relevant problems in search and rescue (SAR) robotics such as multi-agent aerial exploration, object detection and tracking, and aerial gripping. Usually, the community tackles these problems individually but the integration into...
Japanese government plans to host a robot competition, World Robot Summit(WRS), in 2020 aiming to promote robot innovation. WRS involves three categories; (1)industrial, (2)service, and (3)disaster robotics categories. In this paper, the tasks of the disaster robotics category of WRS are introduced, and the consideration of robot innovation promotion with the WRS tasks is carried out.
This paper presents a visual servoing approach for robotic teleoperation using a tethered unmanned aerial vehicle (UAV). When teleoperating a robot, human operator's perception of the remote situation is limited by the robot's onboard camera. This deteriorates situational awareness and poses challenges on operation precision and efficiency. Tele- operated visual assistants are used in practice. For...
In this paper, we propose a monocular SLAM system for robotic urban search and rescue (USAR), based on which most USAR tasks (e.g. localization, mapping, exploration and object recognition) can be fulfilled by rescue robots with only a single camera. The proposed system can be a promising basis to implement fully autonomous rescue robots. However, the feature-based map built by the monocular SLAM...
This paper proposes a method for visual pose stabilization of Fotokite, a tethered small unmanned aerial system, using a forward facing monocular camera. Conventionally, Fotokite stabilizes itself only relative to its tether and not relative to the global frame. It is, therefore, susceptible to environmental disturbances (especially wind) or motion of its ground station. Related work proposed visual...
In disaster scenarios or search and rescue applications an efficient, constructive and safe mission needs more than just robotic hardware and control. One major element is the interface between operator and robot. In this contribution, we present the approach of VTB-mediated teleoperation. This comprises (i) using standardized interfaces to integrate existing knowledge and libraries of the robotics...
Nowadays, mobile robots are widely used to support fire brigades in search and rescue missions. The utilization of those robots - especially under low visibility conditions due to smoke, fog or dust - is limited. Under these circumstances, environmental perception is still a huge challenge. In this work, we present an approach on using LiDAR, radar and thermal imaging in order to detect hazards that...
Collaboration between heterogeneous robots can greatly improve the overall robot system by obtaining capabilities that each single robot is unable to achieve. In this paper, we present a collaborative robot system designed for search and rescue missions in an unknown environment with obstacles. The system consists of an aerial robot and a ground robot. An extended Kalman filter (EKF) is used for...
This paper surveys the scientific and trade literature on cybersecurity for unmanned aerial vehicles (UAV), concentrating on actual and simulated attacks, and the implications for small UAVs. The review is motivated by the increasing use of small UAVs for inspecting critical infrastructures such as the electric utility transmission and distribution grid, which could be a target for terrorism. The...
Resource-constrained surveillance tasks represent a promising domain for autonomous robotic systems in a variety of real-world applications. In particular, we consider tasks where the system must maximize the probability of detecting a target while traversing an environment subject to resource constraints that make full coverage infeasible. In order to perform well, accurate knowledge of the underlying...
This paper proposes a basic near-environmental recognition framework based on groping for risk-tolerance disaster response robot (DRR). In extreme disaster sites, including high radiation and heavy smog, external sensors such as cameras and laser range finders do not work properly, and such sensors may be broken in accidents in the tasks. It is hoped that DRRs can continue to perform tasks, even if...
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