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Aerial-guided navigation of a ground robot among movable obstacles


Müggler, Elias; Fässler, Matthias; Fontana, Flavio; Scaramuzza, Davide (2014). Aerial-guided navigation of a ground robot among movable obstacles. In: IEEE Intl. Symp. on Safety, Security, and Rescue Robotics (SSRR), Toyaco-cho Cultural Center, Toyako-cho, Hokkaido, Japan, 27 October 2014 - 30 October 2014, 1-8.

Abstract

We demonstrate the fully autonomous collaboration of an aerial and a ground robot in a mock-up disaster scenario. Within this collaboration, we make use of the individual capabilities and strengths of both robots. The aerial robot first maps an area of interest, then it computes the fastest mission for the ground robot to reach a spotted victim and deliver a first-aid kit. Such a mission includes driving and removing obstacles in the way while being constantly monitored and commanded by the aerial robot. Our mission-planning algorithm distinguishes between movable and fixed obstacles and considers both the time for driving and removing obstacles. The entire mission is executed without any human interaction once the aerial robot is launched and requires a minimal amount of communication between the robots. We describe both the hardware and software of our system and detail our mission-planning algorithm. We present exhaustive results of both simulation and real experiments. Our system was successfully demonstrated more than 20 times at a trade fair.

Abstract

We demonstrate the fully autonomous collaboration of an aerial and a ground robot in a mock-up disaster scenario. Within this collaboration, we make use of the individual capabilities and strengths of both robots. The aerial robot first maps an area of interest, then it computes the fastest mission for the ground robot to reach a spotted victim and deliver a first-aid kit. Such a mission includes driving and removing obstacles in the way while being constantly monitored and commanded by the aerial robot. Our mission-planning algorithm distinguishes between movable and fixed obstacles and considers both the time for driving and removing obstacles. The entire mission is executed without any human interaction once the aerial robot is launched and requires a minimal amount of communication between the robots. We describe both the hardware and software of our system and detail our mission-planning algorithm. We present exhaustive results of both simulation and real experiments. Our system was successfully demonstrated more than 20 times at a trade fair.

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:30 October 2014
Deposited On:16 Aug 2016 11:42
Last Modified:08 Dec 2017 20:09
Publisher DOI:https://doi.org/10.1109/SSRR.2014.7017662
Other Identification Number:merlin-id:10198

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