| 1. |
- Bock, Alexander, et al.
(författare)
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A Visualization-Based Analysis System for Urban Search & Rescue Mission Planning Support
- 2017
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Ingår i: Computer graphics forum (Print). - : WILEY. - 0167-7055 .- 1467-8659. ; 36:6, s. 148-159
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Tidskriftsartikel (refereegranskat)abstract
- We propose a visualization system for incident commanders (ICs) in urban searchandrescue scenarios that supports path planning in post-disaster structures. Utilizing point cloud data acquired from unmanned robots, we provide methods for the assessment of automatically generated paths. As data uncertainty and a priori unknown information make fully automated systems impractical, we present the IC with a set of viable access paths, based on varying risk factors, in a 3D environment combined with visual analysis tools enabling informed decision making and trade-offs. Based on these decisions, a responder is guided along the path by the IC, who can interactively annotate and reevaluate the acquired point cloud and generated paths to react to the dynamics of the situation. We describe visualization design considerations for our system and decision support systems in general, technical realizations of the visualization components, and discuss the results of two qualitative expert evaluation; one online study with nine searchandrescue experts and an eye-tracking study in which four experts used the system on an application case.
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| 2. |
- Bock, Alexander, 1985-, et al.
(författare)
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Supporting Urban Search & Rescue Mission Planning through Visualization-Based Analysis
- 2014
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Ingår i: Proceedings of the Vision, Modeling, and Visualization Conference 2014. - : Eurographics - European Association for Computer Graphics. - 9783905674743
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Konferensbidrag (refereegranskat)abstract
- We propose a visualization system for incident commanders in urban search~\&~rescue scenarios that supports access path planning for post-disaster structures. Utilizing point cloud data acquired from unmanned robots, we provide methods for assessment of automatically generated paths. As data uncertainty and a priori unknown information make fully automated systems impractical, we present a set of viable access paths, based on varying risk factors, in a 3D environment combined with the visual analysis tools enabling informed decisions and trade-offs. Based on these decisions, a responder is guided along the path by the incident commander, who can interactively annotate and reevaluate the acquired point cloud to react to the dynamics of the situation. We describe design considerations for our system, technical realizations, and discuss the results of an expert evaluation.
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| 3. |
- Akin, H. Levent, et al.
(författare)
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RoboCup Rescue Robot and Simulation Leagues
- 2013
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Ingår i: The AI Magazine. - : AAAI Press. - 0738-4602. ; 34:1
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Tidskriftsartikel (refereegranskat)abstract
- The RoboCup Rescue Robot and Simulation competitions have been held since 2000. The experience gained during these competitions has increased the maturity level of the field, which allowed deploying robots after real disasters (e.g. Fukushima Daiichi nuclear disaster). This article provides an overview of these competitions and highlights the state of the art and the lessons learned.
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| 4. |
- Balakirsky, Stephen, et al.
(författare)
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Towards Heterogeneous Robot Teams for Disaster Mitigation : Results and Performance Metrics from Robocup Rescue
- 2007
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Ingår i: Journal of Field Robotics. - : Wiley. - 1556-4959 .- 1556-4967. ; 24:11, s. 943-967
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Tidskriftsartikel (refereegranskat)abstract
- Urban Search And Rescue is a growing area of robotic research. The RoboCup Federation has recognized this, and has created the new Virtual Robots competition to complement its existing physical robot and agent competitions. In order to successfully compete in this competition, teams need to field multi-robot solutions that cooperatively explore and map an environment while searching for victims. This paper presents the results of the first annual RoboCup Rescue Virtual competition. It provides details on the metrics used to judge the contestants as well as summaries of the algorithms used by the top four teams. This allows readers to compare and contrast these effective approaches. Furthermore, the simulation engine itself is examined and real-world validation results on the engine and algorithms are offered.
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| 5. |
- Berger, Cyrille, 1982-, et al.
(författare)
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Evaluation of Reactive Obstacle Avoidance Algorithms for a Quadcopter
- 2016
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Ingår i: Proceedings of the 14th International Conference on Control, Automation, Robotics and Vision 2016 (ICARCV). - : IEEE conference proceedings. - 9781509035496 - 9781509047574 - 9781509035502
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Konferensbidrag (refereegranskat)abstract
- In this work we are investigating reactive avoidance techniques which can be used on board of a small quadcopter and which do not require absolute localisation. We propose a local map representation which can be updated with proprioceptive sensors. The local map is centred around the robot and uses spherical coordinates to represent a point cloud. The local map is updated using a depth sensor, the Inertial Measurement Unit and a registration algorithm. We propose an extension of the Dynamic Window Approach to compute a velocity vector based on the current local map. We propose to use an OctoMap structure to compute a 2-pass A* which provide a path which is converted to a velocity vector. Both approaches are reactive as they only make use of local information. The algorithms were evaluated in a simulator which offers a realistic environment, both in terms of control and sensors. The results obtained were also validated by running the algorithms on a real platform.
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| 6. |
- Bock, Alexander, et al.
(författare)
-
An interactive visualization system for urban search & rescue mission planning
- 2014
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Ingår i: 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings. - : Institute of Electrical and Electronics Engineers Inc.. - 9781479941995
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Konferensbidrag (refereegranskat)abstract
- We present a visualization system for incident commanders in urban search and rescue scenarios that supports the inspection and access path planning in post-disaster structures. Utilizing point cloud data acquired from unmanned robots, the system allows for assessment of automatically generated paths, whose computation is based on varying risk factors, in an interactive 3D environment increasing immersion. The incident commander interactively annotates and reevaluates the acquired point cloud based on live feedback. We describe design considerations, technical realization, and discuss the results of an expert evaluation that we conducted to assess our system.
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| 7. |
- Burgard, W., et al.
(författare)
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A Comparison of SLAM Algorithms Based on a Graph of Relations
- 2009
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Ingår i: <em>IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>. - : IEEE conference proceedings. ; , s. 2089-2095
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Konferensbidrag (refereegranskat)abstract
- In this paper, we address the problem of creating an objective benchmark for comparing SLAM approaches. We propose a framework for analyzing the results of SLAM approaches based on a metric for measuring the error of the corrected trajectory. The metric uses only relative relations between poses and does not rely on a global reference frame. The idea is related to graph-based SLAM approaches, namely to consider the energy that is needed to deform the trajectory estimated by a SLAM approach into the ground truth trajectory. Our method enables us to compare SLAM approaches that use different estimation techniques or different sensor modalities since all computations are made based on the corrected trajectory of the robot. We provide sets of relative relations needed to compute our metric for an extensive set of datasets frequently used in the SLAM community. The relations have been obtained by manually matching laser-range observations to avoid the errors caused by matching algorithms. Our benchmark framework allows the user an easy analysis and objective comparisons between different SLAM approaches.
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| 8. |
- Conte, Gianpaolo, et al.
(författare)
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Performance evaluation of a light weight multi-echo LIDAR for unmanned rotorcraft applications
- 2013
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Ingår i: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-1/W2. - : Copernicus Gesellschaft MBH.
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Konferensbidrag (refereegranskat)abstract
- The paper presents a light-weight and low-cost airborne terrain mapping system. The developed Airborne LiDAR Scanner (ALS) sys- tem consists of a high-precision GNSS receiver, an inertial measurement unit and a magnetic compass which are used to complement a LiDAR sensor in order to compute the terrain model. Evaluation of the accuracy of the generated 3D model is presented. Additionally, a comparison is provided between the terrain model generated from the developed ALS system and a model generated using a commer- cial photogrammetric software. Finally, the multi-echo capability of the used LiDAR sensor is evaluated in areas covered with dense vegetation. The ALS system and camera systems were mounted on-board an industrial unmanned helicopter of around 100 kilograms maximum take-off weight. Presented results are based on real flight-test data.
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| 9. |
- Dornhege, C., et al.
(författare)
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A Frontier-Void-Based Approach for Autonomous Exploration in 3D
- 2013
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Ingår i: Advanced Robotics. - : Taylor and Francis. - 0169-1864 .- 1568-5535. ; 27:6, s. 459-468
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Tidskriftsartikel (refereegranskat)abstract
- We consider the problem of an autonomous robot searching for objects in unknown 3d space. Similar to the well known frontier-based exploration in 2d, the problem is to determine a minimal sequence of sensor viewpoints until the entire search space has been explored. We introduce a novel approach that combines the two concepts of voids, which are unexplored volumes in 3d, and frontiers, which are regions on the boundary between voids and explored space. Our approach has been evaluated on a mobile platform equipped with a manipulator searching for victims in a simulated USAR setup. First results indicate the real-world capability and search efficiency of the proposed method.
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| 10. |
- Dornhege, Christian, et al.
(författare)
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Behavior Maps for Online Planning of Obstacle Negotiation and Climbing on Rough Terrain
- 2007
-
Ingår i: In <em>Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>. - : IEEE conference proceedings. - 9781424409129 ; , s. 3005-3011
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Konferensbidrag (refereegranskat)abstract
- To autonomously navigate on rough terrain is a challenging problem for mobile robots, requiring the ability to decide whether parts of the environment can be traversed or have to be bypassed, which is commonly known as Obstacle Negotiation (ON). In this paper, we introduce a planning framework that extends ON to the general case, where different types of terrain classes directly map to specific robot skills, such as climbing stairs and ramps. This extension is based on a new concept called behavior maps, which is utilized for the planning and execution of complex skills. Behavior maps are directly generated from elevation maps, i.e. two-dimensional grids storing in each cell the corresponding height of the terrain surface, and a set of skill descriptions. Results from extensive experiments are presented, showing that the method enables the robot to explore successfully rough terrain in real-time, while selecting the optimal trajectory in terms of costs for navigation and skill execution.
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