Development of a networked robotic system for disaster mitigation -Navigation system based on 3D geometry acquisition

Andres E.Mora Vargas, Kenzuke Mizuuchi, Daisuke Endo, Eric Rohmer, Keiji Nagatani, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

In this paper the authors present the current progress of a networked robotic system intended to be deployed at disaster areas. This system is formed by three mobile robots: two twin crawlers that will have search-and-recognition tasks gathering information about their surroundings, and an outdoor-wheeled rover that will approach the area and which will also carry the two crawlers. The communication system for these robots consists of a wireless local area network that will have an operator located at a safe distance controlling them. As a final communication objective, the integration of a satellite-based IP communication, linked to the Japanese satellite ETS-VIII is scheduled. In order to be able to navigate the crawlers remotely, a wireless LAN camera and a Laser Range Finder (LRF) sensor have been mounted on both of the crawlers. These LRFs will scan the area where the crawler is at, obtaining a detailed point-based 3D image. A special focus of this paper is made on the possibility of maneuvering the crawlers based only on the remotely-acquired LRF and camera's information.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages4821-4826
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Vargas, A. E. M., Mizuuchi, K., Endo, D., Rohmer, E., Nagatani, K., & Yoshida, K. (2006). Development of a networked robotic system for disaster mitigation -Navigation system based on 3D geometry acquisition. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 4821-4826). [4059181] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282357