In this paper we describe our work in integrating the results of two previous researches carried on on two different robots. Both robots are designed to help human operators in rescue missions. In the first case, a wheeled robot has been used to develop some software modules. These modules provide the capabilities for autonomously explore an unknown environment and build a metric map while navigating. The second system has been designed to face more challenging scenarios: the robot has tracks and flippers, and features a semi-autonomous behavior to overcome small obstacles and avoid rollovers while moving on debris and unstructured ground. We show how the set of software modules of the first system has been installed on the tracked robot and merged with its semi-autonomous behavior algorithm, and we discuss the results of this integration with a set of experiments. © 2008 SICE.

A semi-autonomous tracked robot system for rescue missions / Daniele, Calisi; Nardi, Daniele; Kazunori, Ohno; Satoshi, Tadokoro. - (2008), pp. 2066-2069. (Intervento presentato al convegno SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology tenutosi a Tokyo; Japan nel 20 August 2008 through 22 August 2008) [10.1109/sice.2008.4655002].

A semi-autonomous tracked robot system for rescue missions

NARDI, Daniele;
2008

Abstract

In this paper we describe our work in integrating the results of two previous researches carried on on two different robots. Both robots are designed to help human operators in rescue missions. In the first case, a wheeled robot has been used to develop some software modules. These modules provide the capabilities for autonomously explore an unknown environment and build a metric map while navigating. The second system has been designed to face more challenging scenarios: the robot has tracks and flippers, and features a semi-autonomous behavior to overcome small obstacles and avoid rollovers while moving on debris and unstructured ground. We show how the set of software modules of the first system has been installed on the tracked robot and merged with its semi-autonomous behavior algorithm, and we discuss the results of this integration with a set of experiments. © 2008 SICE.
2008
SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
autonomy; rescue mission; tracked robot
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
A semi-autonomous tracked robot system for rescue missions / Daniele, Calisi; Nardi, Daniele; Kazunori, Ohno; Satoshi, Tadokoro. - (2008), pp. 2066-2069. (Intervento presentato al convegno SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology tenutosi a Tokyo; Japan nel 20 August 2008 through 22 August 2008) [10.1109/sice.2008.4655002].
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