8,388 research outputs found
Adoption of vehicular ad hoc networking protocols by networked robots
This paper focuses on the utilization of wireless networking in the robotics domain. Many researchers have already equipped their robots with wireless communication capabilities, stimulated by the observation that multi-robot systems tend to have several advantages over their single-robot counterparts. Typically, this integration of wireless communication is tackled in a quite pragmatic manner, only a few authors presented novel Robotic Ad Hoc Network (RANET) protocols that were designed specifically with robotic use cases in mind. This is in sharp contrast with the domain of vehicular ad hoc networks (VANET). This observation is the starting point of this paper. If the results of previous efforts focusing on VANET protocols could be reused in the RANET domain, this could lead to rapid progress in the field of networked robots. To investigate this possibility, this paper provides a thorough overview of the related work in the domain of robotic and vehicular ad hoc networks. Based on this information, an exhaustive list of requirements is defined for both types. It is concluded that the most significant difference lies in the fact that VANET protocols are oriented towards low throughput messaging, while RANET protocols have to support high throughput media streaming as well. Although not always with equal importance, all other defined requirements are valid for both protocols. This leads to the conclusion that cross-fertilization between them is an appealing approach for future RANET research. To support such developments, this paper concludes with the definition of an appropriate working plan
From Monocular SLAM to Autonomous Drone Exploration
Micro aerial vehicles (MAVs) are strongly limited in their payload and power
capacity. In order to implement autonomous navigation, algorithms are therefore
desirable that use sensory equipment that is as small, low-weight, and
low-power consuming as possible. In this paper, we propose a method for
autonomous MAV navigation and exploration using a low-cost consumer-grade
quadrocopter equipped with a monocular camera. Our vision-based navigation
system builds on LSD-SLAM which estimates the MAV trajectory and a semi-dense
reconstruction of the environment in real-time. Since LSD-SLAM only determines
depth at high gradient pixels, texture-less areas are not directly observed so
that previous exploration methods that assume dense map information cannot
directly be applied. We propose an obstacle mapping and exploration approach
that takes the properties of our semi-dense monocular SLAM system into account.
In experiments, we demonstrate our vision-based autonomous navigation and
exploration system with a Parrot Bebop MAV
On Applicability of Automated Planning for Incident Management
Incident management aims to save human lives, mitigate the effect of accidents, prevent damages, to mention a few of their benefits. Efficient coordination of rescue team members, allocation of available resources, and appropriate responses to the realtime unfolding of events is critical for managing incidents successfully.
Coordination involves a series of decisions and event monitoring, usually made by human coordinators, for instance task definition, task assignment, risk assessment, etc. Each elementary decision can be described by a named action (e.g. boarding an ambulance, assigning a task). Taken as a whole, the team coordinating an incident
response can be seen as a decision-making system.
In this paper, we discuss how invaluable assistance can be brought to such a system using automated planning.
In consultation with experts we have derived a set of requirements from which we provide a formal specification of the domain. Following the specification, we have developed a prototype domain model and evaluated it empirically. Here we present the results of this evaluation, along with several challenges (e.g uncertainty) that
we have identifie
An overview of robotics and autonomous systems for harsh environments
Across a wide range of industries and applications, robotics and autonomous systems can fulfil the crucial and challenging tasks such as inspection, exploration, monitoring, drilling, sampling and mapping in areas of scientific discovery, disaster prevention, human rescue and infrastructure management, etc. However, in many situations, the associated environment is either too dangerous or inaccessible to humans. Hence, a wide range of robots have been developed and deployed to replace or aid humans in these activities. A look at these harsh environment applications of robotics demonstrate the diversity of technologies developed. This paper reviews some key application areas of robotics that involve interactions with harsh environments (such as search and rescue, space exploration, and deep-sea operations), gives an overview of the developed technologies and provides a discussion of the key trends and future directions common to many of these areas
Robotic Wireless Sensor Networks
In this chapter, we present a literature survey of an emerging, cutting-edge,
and multi-disciplinary field of research at the intersection of Robotics and
Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor
Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system
that aims to achieve certain sensing goals while meeting and maintaining
certain communication performance requirements, through cooperative control,
learning and adaptation. While both of the component areas, i.e., Robotics and
WSN, are very well-known and well-explored, there exist a whole set of new
opportunities and research directions at the intersection of these two fields
which are relatively or even completely unexplored. One such example would be
the use of a set of robotic routers to set up a temporary communication path
between a sender and a receiver that uses the controlled mobility to the
advantage of packet routing. We find that there exist only a limited number of
articles to be directly categorized as RWSN related works whereas there exist a
range of articles in the robotics and the WSN literature that are also relevant
to this new field of research. To connect the dots, we first identify the core
problems and research trends related to RWSN such as connectivity,
localization, routing, and robust flow of information. Next, we classify the
existing research on RWSN as well as the relevant state-of-the-arts from
robotics and WSN community according to the problems and trends identified in
the first step. Lastly, we analyze what is missing in the existing literature,
and identify topics that require more research attention in the future
Interoperability in a Heterogeneous Team of Search and Rescue Robots
Search and rescue missions are complex operations. A disaster scenario is generally unstructured, time‐varying and unpredictable. This poses several challenges for the successful deployment of unmanned technology. The variety of operational scenarios and tasks lead to the need for multiple robots of different types, domains and sizes. A priori planning of the optimal set of assets to be deployed and the definition of their mission objectives are generally not feasible as information only becomes available during mission. The ICARUS project responds to this challenge by developing a heterogeneous team composed by different and complementary robots, dynamically cooperating as an interoperable team. This chapter describes our approach to multi‐robot interoperability, understood as the ability of multiple robots to operate together, in synergy, enabling multiple teams to share data, intelligence and resources, which is the ultimate objective of ICARUS project. It also includes the analysis of the relevant standardization initiatives in multi‐robot multi‐domain systems, our implementation of an interoperability framework and several examples of multi‐robot cooperation of the ICARUS robots in realistic search and rescue missions
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