Improving perception and locomotion capabilities of mobile robots in urban search and rescue missions - PhD Thesis Proposal
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00301601" target="_blank" >RIV/68407700:21230/16:00301601 - isvavai.cz</a>
Result on the web
<a href="http://cmp.felk.cvut.cz/pub/cmp/articles/kubelka/Kubelka-TR-2016-02.pdf" target="_blank" >http://cmp.felk.cvut.cz/pub/cmp/articles/kubelka/Kubelka-TR-2016-02.pdf</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Improving perception and locomotion capabilities of mobile robots in urban search and rescue missions - PhD Thesis Proposal
Original language description
Localization of mobile robots is an important topic, especially in Urban Search & Rescue (USAR) scenarios. Information about position and orientation of the robot serves not only to human operators but it is also necessary for higher-level functions of the robot. We provide overview of the state-of-the-art localization techniques and present our solution for a mobile USAR robotic platform that incorporates various internal (proprioceptive) and external (exteroceptive) measurements to exploit their complementary character. We show that when available, exteroceptive sensor modalities greatly improve performance of the localization. However, we also demonstrate that there are situations (e.g. low visibility) where the standard localization algorithms fail and which require different approach. We propose to exploit tactile and proprioceptive information to create a model of terrain the robot traverses. Our goal is to utilize the model to substitute for missing information normally provided by the exteroceptive sensors. If successful, we can improve localization and therefore locomotion capability of the robot in such scenarios.
Czech name
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Czech description
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Classification
Type
V<sub>souhrn</sub> - Summary research report
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Number of pages
28
Place of publication
Praha
Publisher/client name
Center for Machine Perception, K13133 FEE Czech Technical University
Version
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