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

研究成果: Chapter

抄録

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.

本文言語English
ホスト出版物のタイトルRobotics
ホスト出版物のサブタイトルResults of the 5th International Conference
編集者Peter Corke, Sukkariah
ページ415-425
ページ数11
DOI
出版ステータスPublished - 2006

出版物シリーズ

名前Springer Tracts in Advanced Robotics
25
ISSN(印刷版)1610-7438
ISSN(電子版)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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