TY - GEN
T1 - Multi-robot exploration for search and rescue missions - A report of map building in RoboCupRescue 2009 -
AU - Nagatani, Keiji
AU - Okada, Yoshito
AU - Tokunaga, Naoki
AU - Yoshida, Kazuya
AU - Kiribayashi, Seiga
AU - Ohno, Kazunori
AU - Takeuchi, Eijiro
AU - Tadokoro, Satoshi
AU - Akiyama, Hidehisa
AU - Noda, Itsuki
AU - Yoshida, Tomoaki
AU - Koyanagi, Eiji
PY - 2009/12/1
Y1 - 2009/12/1
N2 - 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.
AB - 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.
KW - 3D mapping
KW - Autonomous exploration
KW - Coverage path planning
KW - Tracked vehicle
UR - http://www.scopus.com/inward/record.url?scp=77951588603&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951588603&partnerID=8YFLogxK
U2 - 10.1109/SSRR.2009.5424148
DO - 10.1109/SSRR.2009.5424148
M3 - Conference contribution
AN - SCOPUS:77951588603
SN - 9781424456291
T3 - 2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009
BT - 2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009
T2 - 2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009
Y2 - 3 November 2009 through 6 November 2009
ER -