Development of a networked robotic system for disaster mitigation - Test bed experiments for remote operation over rough terrain and high resolution 3D geometry acquisition

Kazuya Yoshida, Keiji Nagatani, Kiyoshi Kiyokawa, Yasushi Yagi, Tadashi Adachi, Hiroaki Saitoh, Hiroyuki Tanaka, Hiroyuki Ohno

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

In this paper, a newly initiated project of networked robotic system for disaster mitigation is introduced. In this project, multiple robots are coordinately operated through ad-hoc wireless communication network, including satellite-based IP communication link, for surveillance tasks at a disaster site. The robot system consists of a large-scale outdoor robot to serve as a carrier of small robots and a fleet of small robots to be deployed at a specific spot such as an inside of a building complex. A combination of a laser range scanner and an omni-directional camera is used to acquire high resolution 3D geometry data and rendering images. Those data and images are displayed using Mixed Reality (MR) technology at a remote site to provide an overall picture for operation managers with high fidelity. This paper presents our initial experiments using a robot test bed with an emphasis on remote operation over rough terrain and for acquisition of high resolution 3D geometry data and telepresence using MR technology.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationResults of the 5th International Conference
EditorsPeter Corke, Sukkariah
Pages415-425
Number of pages11
DOIs
Publication statusPublished - 2006

Publication series

NameSpringer Tracts in Advanced Robotics
Volume25
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Keywords

  • Ad-hoc networking
  • Disaster mitigation
  • Laser range scanner
  • Mixed reality
  • Omnidirectional camera
  • Surveillance robots
  • Telepresence and teleoperation
  • Wireless and satellite-based IP communication

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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