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Requirements forSearchandRescueRobots
Topic Robbie Status
Dimensions 112Ă—58Ă—120cm,ca75kg X
Nr. ofOperators Onlyoneoperator required X
Resistance Currently no IP certificate
due toactivecooling Ă—
Autonomy Canbeeasily switchedusing
GUIorcontrolpanel X
Sensing Five image-streams pro-
vided, as well as 2D and 3D
maps X
Communication Automatic drive counters
connectivityproblems X
CommandandControl Intuitive GUI and operator
stationdeveloped X
AmbientLight Can be operated during day
and night due to two LED
headlights X
EnergyRequirements 0.36kVA X
GraphicalUser Interface Three image-streams on
start-up, additional 2 can be
startedmanually
Battery Voltage, Remaining
operation time and sensor
readings in status-bar X
2D map on start-up, 3D map
canbevisualisedmanually X
Table 2. Evaluation of Robbie’s applicability using the
survey in [7] and [24]. For a description of the require-
ments see table1.
ing the EnRicH 2019 as a 2D, 2D with marked ra-
dioactive sources and as a 3D map. As the 2D map
(upper left) depicts, the calculated loop closure of
the cartographer node distorted the map, resulting in
sloping walls. This also led to the fact that two ra-
dioactive sources were merged into one by the ra-
dioactive mapping approach, since the odometry of
the mobile robot is not recalculated during loop clo-
sure. As can be seen in figure 4, the generated 3D
Figure 4. Created maps: upper left) 2D map, upper right)
mapoverlaidwithradioactivitymeasurementsbottom)3D
map
mapisonlypartiallydense,whichmeansthatadense 3D reconstruction was not possible in all regions.
This may be because the range of the 3D depth sen-
sors is too short or because the mobile robot was
driven through these regions too fast.
4.ConclusionandOutlook
In this paper the needs of S&R robots with re-
gard to thesystemrequirementswereexaminedfrom
theoperator’sPOV.Furthermore, theapproachof the
UAS Technikum Vienna to implement the require-
ments was examined. Search and rescue robots have
to cover a wide range of application areas. Starting
with the robot’s tele-operation, autonomous object
recognitionandimaging,uptotheprocessingandvi-
sualizationofsensordatafortheoperator. Thesearch
and rescue robot of the UAS Technikum Vienna is
able to generate different maps (2D and 3D), has au-
tonomouscapabilities likehumanvictimrecognition
or autonomous drive and has an easy to use graphi-
cal user interface for the operator. The tracker base
platform in combination with the robot arm and the
end effector allow a high off-road mobility and offer
maximumflexibility formanipulation.
Future projects will deal with the tasks of tele-
operation of the robot arm with the help of motion
controls, the enhancement of the human recognition
package by merging the already existing RGB data
with point cloud data using Bayesian sensor fusion
and visual servoing with reinforcement learning for
optimalgripperpositioning. Further, toprovide real-
world S&R capabilities it is necessary to look into
possibilities towater-proof themobile robot.
References
[1] Arctic Robot Challenge. Arctic
robot challenge. [Online]. Avail-
able:https://arcticrobotchallenge.com/. [Accessed:
2019-07-17].
[2] M. Bjelonic. Yolo ros: Real-time object detection
for ros, 2018.
[3] J. Bohren and S. Cousins. The smach high-level ex-
ecutive[rosnews]. IEEERoboticsAutomationMag-
azine, 17(4):18–20,Dec2010.
[4] F. Chaumette, S. Hutchinson, and P. Corke. Visual
Servoing, pages 841–866. Springer International
Publishing, Cham,2016.
[5] B. Choi, G. Park, and Y. Lee. Practical control of
a rescue robot while maneuvering on uneven ter-
rain. Journal of Mechanical Science and Technol-
ogy, 32(5):2021,May2018.
[6] DARPA - Defense Advanced Research Projects
Agency. Defense advanced research projects
25
Joint Austrian Computer Vision and Robotics Workshop 2020
- Title
- Joint Austrian Computer Vision and Robotics Workshop 2020
- Editor
- Graz University of Technology
- Location
- Graz
- Date
- 2020
- Language
- English
- License
- CC BY 4.0
- ISBN
- 978-3-85125-752-6
- Size
- 21.0 x 29.7 cm
- Pages
- 188
- Categories
- Informatik
- Technik