41,685 research outputs found
Unmanned Aerial Systems for Wildland and Forest Fires
Wildfires represent an important natural risk causing economic losses, human
death and important environmental damage. In recent years, we witness an
increase in fire intensity and frequency. Research has been conducted towards
the development of dedicated solutions for wildland and forest fire assistance
and fighting. Systems were proposed for the remote detection and tracking of
fires. These systems have shown improvements in the area of efficient data
collection and fire characterization within small scale environments. However,
wildfires cover large areas making some of the proposed ground-based systems
unsuitable for optimal coverage. To tackle this limitation, Unmanned Aerial
Systems (UAS) were proposed. UAS have proven to be useful due to their
maneuverability, allowing for the implementation of remote sensing, allocation
strategies and task planning. They can provide a low-cost alternative for the
prevention, detection and real-time support of firefighting. In this paper we
review previous work related to the use of UAS in wildfires. Onboard sensor
instruments, fire perception algorithms and coordination strategies are
considered. In addition, we present some of the recent frameworks proposing the
use of both aerial vehicles and Unmanned Ground Vehicles (UV) for a more
efficient wildland firefighting strategy at a larger scale.Comment: A recent published version of this paper is available at:
https://doi.org/10.3390/drones501001
MetaSpace II: Object and full-body tracking for interaction and navigation in social VR
MetaSpace II (MS2) is a social Virtual Reality (VR) system where multiple
users can not only see and hear but also interact with each other, grasp and
manipulate objects, walk around in space, and get tactile feedback. MS2 allows
walking in physical space by tracking each user's skeleton in real-time and
allows users to feel by employing passive haptics i.e., when users touch or
manipulate an object in the virtual world, they simultaneously also touch or
manipulate a corresponding object in the physical world. To enable these
elements in VR, MS2 creates a correspondence in spatial layout and object
placement by building the virtual world on top of a 3D scan of the real world.
Through the association between the real and virtual world, users are able to
walk freely while wearing a head-mounted device, avoid obstacles like walls and
furniture, and interact with people and objects. Most current virtual reality
(VR) environments are designed for a single user experience where interactions
with virtual objects are mediated by hand-held input devices or hand gestures.
Additionally, users are only shown a representation of their hands in VR
floating in front of the camera as seen from a first person perspective. We
believe, representing each user as a full-body avatar that is controlled by
natural movements of the person in the real world (see Figure 1d), can greatly
enhance believability and a user's sense immersion in VR.Comment: 10 pages, 9 figures. Video:
http://living.media.mit.edu/projects/metaspace-ii
IMPLEMENTATION OF A LOCALIZATION-ORIENTED HRI FOR WALKING ROBOTS IN THE ROBOCUP ENVIRONMENT
This paper presents the design and implementation of a human–robot interface capable of evaluating robot localization performance and maintaining full control of robot behaviors in the RoboCup domain. The system consists of legged robots, behavior modules, an overhead visual tracking system, and a graphic user interface. A human–robot communication framework is designed for executing cooperative and competitive processing tasks between users and robots by using object oriented and modularized software architecture, operability, and functionality. Some experimental results are presented to show the performance of the proposed system based on simulated and real-time information. </jats:p
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