Combining Complementary Motion Estimation Approaches to Increase Reliability in Urban Search & Rescue Missions

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00223255" target="_blank" >RIV/68407700:21230/14:00223255 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1007/978-3-319-13823-7" target="_blank" >http://dx.doi.org/10.1007/978-3-319-13823-7</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-319-13823-7" target="_blank" >10.1007/978-3-319-13823-7</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Combining Complementary Motion Estimation Approaches to Increase Reliability in Urban Search & Rescue Missions

Popis výsledku v původním jazyce

Precise motion estimation is vital for any mobile robot to correctly control its actuators and thus to navigate through terrain. Basic approaches of motion estimation (e.g . wheel odometry) that can be considered reliable in laboratory conditions tend tofail in rea l-world search and rescue scenarios because of uneven and slippery surface the robot has to cr oss. In this article, we pick some of the current localization and motion estimation techniques and discuss their prerequisites in contrast with experience g athered during end-user evaluations and a real-world deployment of our robotic platform in a t own struck by an earthquake (Mirandola, Italy). The robotic platform is equipped with a set of sensors allowing us to combine various approaches torobot localization and motion estimation in order to incr ease the redundancy in the system and thus the overall reliability. We present our approach to fuse selected sensor modal ities that was developed with emphasis on possible sensor

Název v anglickém jazyce

Combining Complementary Motion Estimation Approaches to Increase Reliability in Urban Search & Rescue Missions

Popis výsledku anglicky

Precise motion estimation is vital for any mobile robot to correctly control its actuators and thus to navigate through terrain. Basic approaches of motion estimation (e.g . wheel odometry) that can be considered reliable in laboratory conditions tend tofail in rea l-world search and rescue scenarios because of uneven and slippery surface the robot has to cr oss. In this article, we pick some of the current localization and motion estimation techniques and discuss their prerequisites in contrast with experience g athered during end-user evaluations and a real-world deployment of our robotic platform in a t own struck by an earthquake (Mirandola, Italy). The robotic platform is equipped with a set of sensors allowing us to combine various approaches torobot localization and motion estimation in order to incr ease the redundancy in the system and thus the overall reliability. We present our approach to fuse selected sensor modal ities that was developed with emphasis on possible sensor

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

<a href="/cs/project/GA14-13876S" target="_blank" >GA14-13876S: Strojové vnímání pro dlouhodobou autonomii mobilních robotů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2014

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Modelling and Simulation for Autonomous Systems

ISBN

978-3-319-13822-0

ISSN

0302-9743

e-ISSN

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Počet stran výsledku

10

Strana od-do

347-356

Název nakladatele

Springer

Místo vydání

Cham

Místo konání akce

Rome

Datum konání akce

5. 5. 2014

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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