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by chang boyoon
2007, Journal of Field Robotics
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We present some of the work performed in the GRASP Laboratory with the objective of deploying multi-robot teams in urban environments. Specifically, we focus on three important issues in this type of mission: the development of tools for providing situational awareness, the use of air and ground vehicles for cooperative sensing and the construction of radio maps to keep team connectivity. We describe the main approaches that we have been using for tackling these issues and present some preliminary results from experiments conducted with our team of air and ground vehicles.
2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation
2015, 2015 IEEE International Conference on Industrial Technology (ICIT)
2008, Journal of Field Robotics
2015, 2015 International Conference on Control, Automation and Robotics
2013
The paper presents the objective and characteristics of an integrated architecture devoted to develop a new generation of simulators able to reproduce joint interoperability among Autonomous Systems over the marine domain. The authors analyze the requirements for such simulation solution in order to address the needs of the applicative context considering different needs: engineering, operations, training and supervision. The paper proposes the general architecture and an approach for integrating different models within this federation; the description of the mission environment is proposed as test case, as well as the preliminary activities for validating these concepts as well as the simulation architecture. 1 . INTRODUCTION This research aims at developing conceptual models and simulators devoted to support the definition of technical and operational requirements for developing a new generation of interoperable UAS (Unmanned Autonomous Systems) operating over the different domain...
2017, Search and Rescue Robotics - From Theory to Practice
Proceedings of the IEEE
This paper presents recent advances in multiagent sensing and operation in dynamic environments. Technology trends point towards a fusion of wireless sensor networks with robotic swarms of mobile robots. In this paper, we discuss the coordination and collaboration between networked robotic systems, featuring algorithms for cooperative operations such as unmanned aerial vehicles (UAVs) swarming. We have developed cooperative actions of groups of agents such as probabilistic pursuit-evasion game for search and rescue operations, protection of resources, and security applications. We have demonstrated a hierarchical system architecture which provides wide-range sensing capabilities to unmanned vehicles through spatially deployed wireless sensor networks, highlighting the potential collaboration between wireless sensor networks and unmanned vehicles. This paper also includes a short review of our current research efforts in heterogeneous sensor networks, which is being evolved into mobi...
2014, Handbook of Unmanned Aerial Vehicles
We present in this paper a backstepping controller for vision based target tracking with an Unmanned Aerial Vehicle. A down facing camera is used with a pose estimation algorithm to extract the position of the target (an Unmanned Ground Vehicle). The output is then fed into the developed controller to generate the necessary movements (pitch and roll) of the Unmanned Aerial Vehicle in order to keep the target in the coverage view of the camera (following it constantly). The developed scheme is used to help the Unmanned Ground Vehicle to navigate among obstacles, and the overall system is designed in order to help human operator to supervise the Aerial and Ground vehicles for area inspection or object transportation in industrial areas (when using multiple Unmanned Ground Vehicles).
2015
There is a significant potential in the use of unmanned remote controlled vehicles in sampling and measuring radiological events. No attempts to standardise sampling and measurement methods using these types of vehicles have yet been made. Common standards would simplify the use of remote controlled vehicles in an emergency scenario and would thus be very valuable in critical infrastructure protection (CIP). The main advantage of using unmanned systems in radiological events is the protection of the human personnel involved. This report is about current state-of-the-art of unmanned systems that have potential to be used for radiation measurements and sampling. It is believed that search and rescue robotics is the domain that is closest to the robots applicable to the radiation measurement scenarios. Therefore, a definition for search and rescue robots and outlines of their major subsystems are given. This is followed by a review of deployment scenarios for search and rescue robots o...
2014
The use of robotics in Search and Rescue operations is a topic that is gaining momentum in the scientific community. One aspect of such operations that has yet to be explored is that of wireless communication between the various robotic elements operating in the disaster area. This paper presents a model consisting of 15 Unmanned Ground Vehicles (UGVs), two Unmanned Aerial Vehicles (UAVs) and one Cell On Wheels (COW). This configuration explores the nature of such communication in the form of a network with payloads of sensor data, video data and telemetry bursts being sent from the UGVs via the UAV to the COW, and with telecommands being sent via the downlink. Another issue explored is that of horizontal handover that occurs when one UGV moves out of its home UAV’s coverage and moves into another UAV’s coverage. The results of the paper show that the network is fully functional with benchmark compliant video latency and jitter. Moreover, it is shown that the handover that occurs be...
2016, Precision Agriculture
2006, International Journal of Robotic Research
The book consists of collection of opinions by various authors from different countries and diverse research backgrounds to provide a multi-faceted review of the development of unmanned ground systems (UGS) in military use from different perspectives – to cover both the retrospective and prospective development of UGS as well as the current issues and challenges from military, technical and legal perspectives.
2021
We present a field report of CTU-CRAS-NORLAB team from the Subterranean Challenge (SubT) organised by the Defense Advanced Research Projects Agency (DARPA). The contest seeks to advance technologies that would improve the safety and efficiency of searchand-rescue operations in GPS-denied environments. During the contest rounds, teams of mobile robots have to find specific objects while operating in environments with limited radio communication, e.g. mining tunnels, underground stations or natural caverns. We present a heterogeneous exploration robotic system of the CTU-CRAS-NORLAB team, which achieved the third rank at the SubT Tunnel and Urban Circuit rounds and surpassed the performance of all other non-DARPA-funded teams. The field report describes the team’s hardware, sensors, algorithms and strategies, and discusses the lessons learned by participating at the DARPA SubT contest.
2006, AIAA Modeling and Simulation Technologies Conference and Exhibit
2020, IEEE/CAA Journal of Automatica Sinica
Timely investigating post-disaster situations to locate survivors and secure hazardous sources is critical, but also very challenging and risky. Despite first responders putting their lives at risk in saving others, human-physical limits cause delays in response time, resulting in fatality and property damage. In this paper, we proposed and implemented a framework intended for creating collaboration between heterogeneous unmanned vehicles and first responders to make search and rescue operations safer and faster. The framework consists of unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), a cloud-based remote control station (RCS). A light-weight message queuing telemetry transport (MQTT) based communication is adopted for facilitating collaboration between autonomous systems. To effectively work under unfavorable disaster conditions, antenna tracker is developed as a tool to extend network coverage to distant areas, and mobile charging points for the UAVs are also implemented. The proposed framework’s performance is evaluated in terms of end-to-end delay and analyzed using architectural analysis and design language (AADL). Experimental measurements and simulation results show that the adopted communication protocol performs more efficiently than other conventional communication protocols, and the implemented UAV control mechanisms are functioning properly. Several scenarios are implemented to validate the overall effectiveness of the proposed framework and demonstrate possible use cases.
2019
The book consists of a collection of opinions by authors from different countries and with diverse research backgrounds, building on the first two volumes of this project with a multi-faceted review of the development of unmanned ground vehicles (UGVs) in military use. This volume analyses initiatives of the European Union aimed at the digitalisation of the battlefield through research and innovation, as well as the defence research and innovation ecosystem in the Baltic states. It also considers the state of play of development of UGVs in selected countries.
2011, International Journal of Intelligent Defence Support Systems
2014, Machines
Agronomy
Agricultural robotics has been a popular subject in recent years from an academic as well as a commercial point of view. This is because agricultural robotics addresses critical issues such as seasonal shortages in manual labor, e.g., during harvest, as well as the increasing concern regarding environmentally friendly practices. On one hand, several individual agricultural robots have already been developed for specific tasks (e.g., for monitoring, spraying, harvesting, transport, etc.) with varying degrees of effectiveness. On the other hand, the use of cooperative teams of agricultural robots in farming tasks is not as widespread; yet, it is an emerging trend. This paper presents a comprehensive overview of the work carried out so far in the area of cooperative agricultural robotics and identifies the state-of-the-art. This paper also outlines challenges to be addressed in fully automating agricultural production; the latter is promising for sustaining an increasingly vast human p...
International Journal of Innovative Technology and Exploring Engineering
The interest of this research is to provide a solution to the use of Unmanned Ground Vehicles in military applications. This paper model such an Automated Guided Vehicle (AGV) that can not only be used as load carriers but also as transportation and surveillance vehicles with an ability to communicate, too. From border surveillance to carrying arms & ammunitions for the camps, there are a lot many applications of this AGV. Furthermore, changing the intelligence of the system to fully automated possible applications are explored in this paper. With this intelligence system, vehicles can provide constant updates about its surroundings, and the data shared with peer vehicles will include information on potential and sudden obstacles on the route. Communication of an Unmanned Aerial Vehicle or any other AGV can be achieved. The study concludes that the objective of an autonomous vehicle system in military and other applications can be achieved by this model.
2014, 2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)
2020, Processes
2017
The military benefit of unmanned reconnaissance for infantry as the most exposed military branch is obvious. Furthermore, unmanned systems can also support by transporting heavy equipment, including sensor payloads usually not fielded by infantry units. While larger assets are typically controlled from afar, smaller assets can be controlled directly by nearby troops and satisfy immediate reconnaissance needs. In this work, the design, implementation and evaluation of a user interface (UI) for integrating unmanned platforms into the German army’s infantry platoons is presented. More specific, two unmanned aerial vehicles and two unmanned ground vehicles were to be integrated into a platoon. This work highlights the user interface aspects, training effort and organizational changes. German paratroopers and mountain infantry assisted with the requirements analysis and UI evaluation. In addition, the German Army Concepts and Capabilities Development Center supported the evaluation. The ...
SN Applied Sciences
This paper describes the implementation of an autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns, finding applications in different industrial automation, manufacturing and civil construction scenarios. This system was developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020, to demonstrate the novel real-world application of constructing structures using teams of robots, showcasing once again the role of major scientific competitions in advancing the state of the art towards exploring solutions to open problems. The paper presents in detail the hardware and software architectures of the developed mobile manipulator, integrating different research results and developments into a functional complex robot system, while proposing methods to detect, approach and manipulate differently sized/colored bricks to build a wall of predefined pattern given to the robot just before the building task starts. Article Highl...
2017, ArXiv
This paper address the challenges encountered by developers when deploying a distributed decision-making behavior on heterogeneous robotic systems. Many applications benefit from the use of multiple robots, but their scalability and applicability are fundamentally limited if relying on a central control station. Getting beyond the centralized approach can increase the complexity of the embedded intelligence, the sensitivity to the network topology, and render the deployment on physical robots tedious and error-prone. By integrating the swarm-oriented programming language Buzz with the standard environment of ROS, this work demonstrates that behaviors requiring distributed consensus can be successfully deployed in practice. From simulation to the field, the behavioral script stays untouched and applicable to heterogeneous robot teams. We present the software structure of our solution as well as the swarm-oriented paradigms required from Buzz to implement a robust generic consensus st...
Applied Sciences
The advent of mobile robots in agriculture has signaled a digital transformation with new automation technologies optimize a range of labor-intensive, resources-demanding, and time-consuming agri-field operations. To that end a generally accepted technical lexicon for mobile robots is lacking as pertinent terms are often used interchangeably. This creates confusion among research and practice stakeholders. In addition, a consistent definition of planning attributes in automated agricultural operations is still missing as relevant research is sparse. In this regard, a “narrative” review was adopted (1) to provide the basic terminology over technical aspects of mobile robots used in autonomous operations and (2) assess fundamental planning aspects of mobile robots in agricultural environments. Based on the synthesized evidence from extant studies, seven planning attributes have been included: (i) high-level control-specific attributes, which include reasoning architecture, the world m...
IEEE Robotics & Automation Magazine
2007, Journal of Field Robotics
2012
The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple ...
2010
2014, Journal of Intelligent & Robotic Systems
2011