Download or read book A Learning Based Semi Autonomous Control Architecture for Robotic Exploration of Search and Rescue Environments written by Barzin Doroodgar and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Semi autonomous Control of Multi robot Teams in Urban Search and Rescue Applications written by Yugang Liu and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Urban search and rescue (USAR) has been a significant application in robotics because the deployment of rescue robots in these life-risking tasks can help reduce the personal risks of human rescue workers and increase the speed of emergency response. Furthermore, the incorporation of multi-robot rescue teams consisting of a group of heterogeneous rescue robots is advantageous since it allows shorter robot deployment times, provides situational awareness from multiple locations, and introduces redundancy and fault-tolerance to this time-critical mission. While promising, the control of multi-robot rescue teams is a challenging task. In particular, decisions need to be made regarding which rescue tasks should be executed and by which robot in a specific scenario. This thesis focuses on the development of semi-autonomous control architectures for multi-robot USAR teams in order to address the challenges in human-robot coordination and multi-robot cooperation in USAR applications. A learning-based semi-autonomous control architecture is developed for multi-robot teams in USAR environments, allowing a team of rescue robots to learn and make decisions regarding which rescue tasks need to be carried out at a given time. The task sharing between rescue robots and human operators can reduce the stress and mental workload of the operators, while allowing rescue robots to benefit from a human operator's experience and knowledge. Furthermore, the cooperation between different rescue robots enables fast exploration of cluttered USAR scenes by minimizing overlap or repeated revisits of an explored area, as well as improve the reliability of the overall search and rescue mission. This thesis further addresses the high-level task allocation challenge for a large heterogeneous multi-robot team. A hierarchical supervisory control architecture is proposed allowing effective task sharing amongst the multi-robot team based on the dimension, mobility and sensing capabilities of individual robots. The developed approach can also handle the changes to team size due to robot failures and the need for robot repair during a USAR mission. The developed multi-robot task allocation approach allows a single operator to control a large team of heterogeneous rescue robots in USAR applications. Simulations and experiments in simulated USAR environments verified the performance of the proposed supervisory controller.
Download or read book Developing an Intelligent Robot Control Architecture for Autonomous Exploration in Urban Search and Rescue written by Farzad Niroui and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The urban search and rescue (USAR) task is a very time sensitive operation which occurs in environments with high uncertainty. The task of a robot in USAR is to explore unknown and cluttered environments and identify any potential victims within the environments. In this thesis, an autonomous controller is presented which utilizes a hierarchical partially observable Markov Decision Process approach to model the environment uncertainty inside a robot's decision-making scheme. Additionally, an intelligent exploration technique for USAR which utilizes deep reinforcement learning is proposed. The aim of these two techniques is to allow a robot to perform the full USAR task autonomously without the assistance of a human operator and to also follow an efficient exploration strategy which assists in the faster discovery of potential victims. Several experiments were conducted in USAR-like environments to validate the performance and robustness of each technique.
Download or read book Unmanned Aerial Vehicles Applications Challenges and Trends written by Mohamed Abdelkader and published by Springer Nature. This book was released on 2023-06-29 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a book that covers different aspects of UAV technology, including design and development, applications, security and communication, and legal and regulatory challenges. The book is divided into 13 chapters, grouped into four parts. The first part discusses the design and development of UAVs, including ROS customization, structured designs, and intelligent trajectory tracking. The second part explores diverse applications such as search and rescue, monitoring distributed parameter systems, and leveraging drone technology in accounting. The third part focuses on security and communication challenges, including security concerns, multi-UAV systems, and communications security. The final part delves into the legal and regulatory challenges of integrating UAVs into non-segregated airspace. The book serves as a valuable resource for researchers, practitioners, and students in the field of unmanned aerial vehicles, providing a comprehensive understanding of UAV technology and its applications.
Download or read book Search and Rescue Robotics written by Multiple Authors and published by BoD – Books on Demand. This book was released on 2017-08-23 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the event of large crises (earthquakes, typhoons, floods, ...), a primordial task of the fire and rescue services is the search for human survivors on the incident site. This is a complex and dangerous task, which - too often - leads to loss of lives among the human crisis managers themselves. This book explains how unmanned search can be added to the toolkit of the search and rescue workers, offering a valuable tool to save human lives and to speed up the search and rescue process. The introduction of robotic tools in the world of search and rescue is not straightforward, due to the fact that the search and rescue context is extremely technology-unfriendly, meaning that very robust solutions, which can be deployed extremely quickly, are required. Multiple research projects across the world are tackling this problem and in this book, a special focus is placed on showcasing the results of the European Union ICARUS project on this subject. The ICARUS project proposes to equip first responders with a comprehensive and integrated set of unmanned search and rescue tools, to increase the situational awareness of human crisis managers, so that more work can be done in a shorter amount of time. The ICARUS tools consist of assistive unmanned air, ground, and sea vehicles, equipped with victim-detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the command and control equipment of the human crisis managers and a set of training and support tools is provided to them in order to learn to use the ICARUS system. The research leading to these results has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement number 285417. The publishing of this book was funded by the EC FP7 Post-Grant Open Access Pilot programme.
Download or read book Autonomous Mobile Robots in Unknown Outdoor Environments written by Xiaorui Zhu and published by CRC Press. This book was released on 2017-12-15 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots have been increasingly applied in many different scenarios, such as space exploration and search and rescue, where the robots are required to travel over uneven terrain while outdoors. This book provides a new framework and the related algorithms for designing autonomous mobile robotic systems in such unknown outdoor environments.
Download or read book Modelling of Autonomous Search and Rescue Missions by Interval Valued Neutrosophic WASPAS Framework written by Rokas Semenas and published by Infinite Study. This book was released on with total page 21 pages. Available in PDF, EPUB and Kindle. Book excerpt: The application of autonomous robots in search and rescue missions represents a complex task which requires a robot to make robust decisions in unknown and dangerous environments. However, imprecise robot movements and small measurement errors obtained by robot sensors can have an impact on the autonomous environment exploration quality, and therefore, should be addressed while designing search and rescue (SAR) robots.
Download or read book State Estimation for Robotics written by Timothy D. Barfoot and published by Cambridge University Press. This book was released on 2017-07-31 with total page 381 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.
Download or read book Human robot Interaction written by Michael A. Goodrich and published by Now Publishers Inc. This book was released on 2007 with total page 89 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents a unified treatment of HRI-related issues, identifies key themes, and discusses challenge problems that are likely to shape the field in the near future. The survey includes research results from a cross section of the universities, government efforts, industry labs, and countries that contribute to HRI.
Download or read book Exploration and Mapping with Mobile Robots written by and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Models of the environment are needed for a wide range of robotic applications, from search and rescue to automated vacuum cleaning. Learning maps has therefore been a major research focus in the robotics community over the last decades. Robots that are able to acquire an accurate model of their environment on their own are regarded as fulfilling a major precondition of truly autonomous agents. In order to solve the map learning problem, a robot has to address mapping, localization, and path planning at the same time. In general, these three tasks cannot be decoupled and solved independently and map learning is thus referred to as the simultaneous planning, localization, and mapping problem. Because of the coupling between these tasks, this problem is very complex. It can become even more complex when there are dynamic changes in the environment or several robots are being used together to solve the problem. The contributions of this thesis are solutions to various aspects of the autonomous map learning problem. We first present approaches to exploration that take into account the uncertainty in the world model of the robot. We then describe how to achieve good collaboration among a team of robots so that they efficiently solve an exploration task. Our approach distributes the robots over the environment and in this way avoids redundant work and reduces the risk of interference between the individual team members. We furthermore provide a technique to make use of background knowledge about typical spacial structures when distributing the robots over the environment. As a result, the overall time needed to complete the exploration mission is reduced. To deal with the uncertainty in the pose of a robot, we present a solution to the simultaneous localization and mapping problem. The difficulty in this context is to build up a map while at the same time localizing the robot in this map. Our approach maintains a joint posterior about the trajectory of the robot and the mo.
Download or read book Human Factors of Semi autonomous Robots for Urban Search and Rescue written by Katharina M. Gabrecht and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Snake Robots written by Pål Liljebäck and published by Springer Science & Business Media. This book was released on 2012-06-13 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Snake Robots is a novel treatment of theoretical and practical topics related to snake robots: robotic mechanisms designed to move like biological snakes and able to operate in challenging environments in which human presence is either undesirable or impossible. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Locomotion in unstructured environments is a focus for this book. The text targets the disparate muddle of approaches to modelling, development and control of snake robots in current literature, giving a unified presentation of recent research results on snake robot locomotion to increase the reader’s basic understanding of these mechanisms and their motion dynamics and clarify the state of the art in the field. The book is a complete treatment of snake robotics, with topics ranging from mathematical modelling techniques, through mechatronic design and implementation, to control design strategies. The development of two snake robots is described and both are used to provide experimental validation of many of the theoretical results. Snake Robots is written in a clear and easily understandable manner which makes the material accessible by specialists in the field and non-experts alike. Numerous illustrative figures and images help readers to visualize the material. The book is particularly useful to new researchers taking on a topic related to snake robots because it provides an extensive overview of the snake robot literature and also represents a suitable starting point for research in this area.
Download or read book Robotic Mapping and Exploration written by Cyrill Stachniss and published by Springer. This book was released on 2009-05-06 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.
Download or read book Design and Experimental Testing of a Robotics Control Architecture for Free running Amphibious Models written by MS Michael Swafford and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: To date, advancement in autonomous vehicles has been substantial, from Tesla's Full Self-Driving beta released in October of 2020 to semi-autonomous surface vessels like the U.S Navy's sea hunter; autonomy is the future of industry and commercial products. While both of these examples are significant accomplishments, both are limited to single-mode vehicles. Multi-modal vehicles like sea-going autonomous amphibious vehicles (AAVs) must replicate the capabilities of autonomous land and water vehicles, but must also transition between them in an environment, such as the littoral surf zone, that is arguably more complex than that encountered by either of the preceding examples. In order to successfully design a vehicle and its control systems to operate in this environment a thorough experimental and computational study of a model AAV must be conducted in order to understand both the vehicle and the environment it will serve in. Presented in this paper is the design and development of an robotics control architecture for free-running amphibious models with the capability to expand to full autonomy. The architecture was used to fulfill a second phase of experimental testing for the Model Quadski (MQS) in an artificial surf zone at the IIHR wave basin facility. The architecture uses a land based robot operating system (ROS) PC to communicate with both the model and other computers in the facility. For this phase of experimental testing the ROS package utilized a feed-forward control scheme in a conjunction with an XBOX controller to semi-autonomous control the robot. It was shown that the upgrades to the control authority of the MQS enabled a free-running model amphibian that could drive on land, in water, and seamlessly transition between the two. The upgrades to the hardware and software of the vehicle were tested at the IIHR wave basin facility in both calm water and surf conditions. The ROS package that was developed added a clear advantage to the complexity of experiments that could be undertaken in the surf zone and enabled the collection of high quality data of vehicle transit through the surf zone for both launching and landing cases. The beginning development for closed-loop control has also been demonstrated by the ROS package taking information from the real-time motion tracking system and feeding it into a Simulink node where a closed-loop control scheme could be added in future phases of the project.
Download or read book Mapping and Exploration for Search and Rescue with Humans and Mobile Robots written by and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Urban Search And Rescue (USAR) is a time critical task since all survivors have to be rescued within the first 72 hours. One goal in Rescue Robotics is to support emergency response by mixed-initiative teams consisting of humans and robots. Their task is to explore the disaster area rapidly while reporting victim locations and hazardous areas to a central station, which then can be utilized for planning rescue missions. To fulfill this task efficiently, humans and robots have to map disaster areas jointly while coordinating their search at the same time. Additionally, robots have to perform subproblems, such as victim detection and navigation, autonomously. In disaster areas these problems are extraordinarily challenging due to the unstructured environment and rough terrain. Furthermore, when communication fails, methods that are deployed under such conditions have to be decentralized, i.e. operational without a central station. In this thesis a unified approach joining human and robot resources for solving these problems is contributed. Following the vision of combined multi-robot and multi-human teamwork, core problems, such as position tracking on rough terrain, mapping by mixed teams, and decentralized team coordination with limited radio communication, are directly addressed. More specific, RFID-SLAM, a novel method for robust and ecient loop closure in large-scale environments that utilizes RFID technology for data association, is contributed. The method is capable of jointly improving multiple maps from humans and robots in a centralized and decentralized manner without requiring team members to perform loops on their routes. Thereby positions of humans are tracked by PDR (Pedestrian Dead Reckoning), and robot positions by slippagesensitive odometry, respectively. The joint-graph emerging from these trajectories serves as an input for an iterative map optimization procedure. The introduced map representation is further utilized for solving the centralized and.
Download or read book Robotic Systems Concepts Methodologies Tools and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2020-01-03 with total page 2075 pages. Available in PDF, EPUB and Kindle. Book excerpt: Through expanded intelligence, the use of robotics has fundamentally transformed a variety of fields, including manufacturing, aerospace, medicine, social services, and agriculture. Continued research on robotic design is critical to solving various dynamic obstacles individuals, enterprises, and humanity at large face on a daily basis. Robotic Systems: Concepts, Methodologies, Tools, and Applications is a vital reference source that delves into the current issues, methodologies, and trends relating to advanced robotic technology in the modern world. Highlighting a range of topics such as mechatronics, cybernetics, and human-computer interaction, this multi-volume book is ideally designed for robotics engineers, mechanical engineers, robotics technicians, operators, software engineers, designers, programmers, industry professionals, researchers, students, academicians, and computer practitioners seeking current research on developing innovative ideas for intelligent and autonomous robotics systems.
Download or read book Performance Evaluation and Benchmarking of Intelligent Systems written by Raj Madhavan and published by Springer Science & Business Media. This book was released on 2009-09-18 with total page 351 pages. Available in PDF, EPUB and Kindle. Book excerpt: To design and develop capable, dependable, and affordable intelligent systems, their performance must be measurable. Scienti?c methodologies for standardization and benchmarking are crucial for quantitatively evaluating the performance of eme- ing robotic and intelligent systems’ technologies. There is currently no accepted standard for quantitatively measuring the performance of these systems against user-de?ned requirements; and furthermore, there is no consensus on what obj- tive evaluation procedures need to be followed to understand the performance of these systems. The lack of reproducible and repeatable test methods has precluded researchers working towards a common goal from exchanging and communic- ing results, inter-comparing system performance, and leveraging previous work that could otherwise avoid duplication and expedite technology transfer. Currently, this lack of cohesion in the community hinders progress in many domains, such as m- ufacturing, service, healthcare, and security. By providing the research community with access to standardized tools, reference data sets, and open source libraries of solutions, researchers and consumers will be able to evaluate the cost and be- ?ts associated with intelligent systems and associated technologies. In this vein, the edited book volume addresses performance evaluation and metrics for intel- gent systems, in general, while emphasizing the need and solutions for standardized methods. To the knowledge of the editors, there is not a single book on the market that is solely dedicated to the subject of performance evaluation and benchmarking of intelligent systems.
