Multi-robot exploration for search and rescue missions - A report of map building in RoboCupRescue 2009 -

Keiji Nagatani; Yoshito Okada; Naoki Tokunaga; Kazuya Yoshida; Seiga Kiribayashi; Kazunori Ohno; Eijiro Takeuchi; Satoshi Tadokoro; Hidehisa Akiyama; Itsuki Noda; Tomoaki Yoshida; Eiji Koyanagi

doi:10.1109/SSRR.2009.5424148

Multi-robot exploration for search and rescue missions - A report of map building in RoboCupRescue 2009 -

Keiji Nagatani, Yoshito Okada, Naoki Tokunaga, Kazuya Yoshida, Seiga Kiribayashi, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro, Hidehisa Akiyama, Itsuki Noda, Tomoaki Yoshida, Eiji Koyanagi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

Mobile robots may be able to aid rescue crews in dangerous environments during search and rescue missions after natural or man-made disasters. In 2006, we began a research project to realize mobile robots that can gather information rapidly at the first stage of a disaster. 3D mapping, which can be an important aid for rescue crews in strategizing rescue missions, is one of our important objectives. Some fundamental elements to enable 3D mapping have been developed. We attended RoboCupRescue 2009 to validate our integrated autonomous 3D mapping system. We demonstrated our mapping system using multiple-robots on the RoboCupRescue field. In this paper, we introduce our mapping system and report the results from the RoboCupRescue competition.

Original language	English
Title of host publication	2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009
DOIs	https://doi.org/10.1109/SSRR.2009.5424148
Publication status	Published - 2009 Dec 1
Event	2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009 - Denver, CO, United States Duration: 2009 Nov 3 → 2009 Nov 6

Publication series

Name	2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009

Other

Other	2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009
Country	United States
City	Denver, CO
Period	09/11/3 → 09/11/6

Keywords

3D mapping
Autonomous exploration
Coverage path planning
Tracked vehicle

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Safety, Risk, Reliability and Quality

Access to Document

10.1109/SSRR.2009.5424148

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Nagatani, K., Okada, Y., Tokunaga, N., Yoshida, K., Kiribayashi, S., Ohno, K., Takeuchi, E., Tadokoro, S., Akiyama, H., Noda, I., Yoshida, T., & Koyanagi, E. (2009). Multi-robot exploration for search and rescue missions - A report of map building in RoboCupRescue 2009 -. In 2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009 [5424148] (2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009). https://doi.org/10.1109/SSRR.2009.5424148

Multi-robot exploration for search and rescue missions - A report of map building in RoboCupRescue 2009 -. / Nagatani, Keiji; Okada, Yoshito; Tokunaga, Naoki; Yoshida, Kazuya; Kiribayashi, Seiga; Ohno, Kazunori; Takeuchi, Eijiro; Tadokoro, Satoshi; Akiyama, Hidehisa; Noda, Itsuki; Yoshida, Tomoaki; Koyanagi, Eiji.

2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009. 2009. 5424148 (2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nagatani, K, Okada, Y, Tokunaga, N, Yoshida, K, Kiribayashi, S, Ohno, K, Takeuchi, E, Tadokoro, S, Akiyama, H, Noda, I, Yoshida, T & Koyanagi, E 2009, Multi-robot exploration for search and rescue missions - A report of map building in RoboCupRescue 2009 -. in 2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009., 5424148, 2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009, 2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009, Denver, CO, United States, 09/11/3. https://doi.org/10.1109/SSRR.2009.5424148

Nagatani K, Okada Y, Tokunaga N, Yoshida K, Kiribayashi S, Ohno K et al. Multi-robot exploration for search and rescue missions - A report of map building in RoboCupRescue 2009 -. In 2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009. 2009. 5424148. (2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009). https://doi.org/10.1109/SSRR.2009.5424148

Nagatani, Keiji ; Okada, Yoshito ; Tokunaga, Naoki ; Yoshida, Kazuya ; Kiribayashi, Seiga ; Ohno, Kazunori ; Takeuchi, Eijiro ; Tadokoro, Satoshi ; Akiyama, Hidehisa ; Noda, Itsuki ; Yoshida, Tomoaki ; Koyanagi, Eiji. / Multi-robot exploration for search and rescue missions - A report of map building in RoboCupRescue 2009 -. 2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009. 2009. (2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009).

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