| 1. |
- Ziparo, V. A., et al.
(författare)
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Cooperative Exploration for USAR Robots with Indirect Communication
- 2007
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Ingår i: <em>Proc. of 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV)</em>.
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Konferensbidrag (refereegranskat)abstract
- To coordinate a team of robots for exploration is a challenging problem, particularly in unstructured areas, as for example post-disaster scenarios where direct communication is severely constrained. Furthermore, conventional methods of SLAM, e.g. those performing data association based on visual features, are doomed to fail due to bad visibility caused by smoke and fire. We use indirect communication (based on RFIDs), to share knowledge and use a gradient-like local search to direct robots towards interesting areas. To share a common frame of reference among robots we use a feature based SLAM approach (where features are RFIDs). The approach has been evaluated on a 3D simulation based on USARSim.
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| 2. |
- Genell, Anders, 1974, et al.
(författare)
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Components in evaluation of complex interior truck sounds
- 2006
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Ingår i: Journal of Low Frequency Noise and Vibration. - 0263-0923. ; 25:4, s. 227-237
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Tidskriftsartikel (refereegranskat)abstract
- In order to investigate influences on assessment of interior truck sounds two experiments have been carried out with emphasis on the low frequency content. In the first experiment the participants were presented with recorded sound from the interior of a truck cabin, with different alterations of the low frequency content. In the second experiment the balance between low and high frequency content was altered for the recorded sounds. Three main dimensions important for the assessment of truck sounds were found: an Annoyance factor, a Wakefulness factor and a Quality factor. Additionally it was found that a wellsuited spectral balance could improve positive impressions of truck sound.
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| 3. |
- Kleiner, Alexander, et al.
(författare)
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RoboCupRescue - Simulation League Team RescueRobots Freiburg (Germany)
- 2006
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Ingår i: RoboCup 2006 (CDROM Proceedings), Team Description Paper, Rescue Simulation League.
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Konferensbidrag (refereegranskat)abstract
- This paper describes the approach of the RescueRobots Freiburg Virtual League team. Our simulated robots are based on the two real robot types Lurker, a robot capable of climbing stairs and random stepfield, and Zerg, a lightweight and agile robot, capable of autonomously distributing RFID tags. Our approach covers a novel method for RFID-Technology based SLAM and exploration, allowing the fast and efficient coordination of a team of robots. Furthermore we utilize Petri nets for team coordination.
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| 4. |
- Nüssle, T. A., et al.
(författare)
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Approaching Urban Disaster Reality : The ResQ Firesimulator
- 2005
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Ingår i: <em>RoboCup 2004: Robot Soccer World Cup VIII</em>. - Berlin, Heidelberg : Springer Berlin Heidelberg. ; , s. 474-482
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Konferensbidrag (refereegranskat)abstract
- The RoboCupRescue Simulation project aims at simulating large-scale disasters in order to explore coordination strategies for real-life rescue missions. This can only be achieved if the simulation itself is as close to reality as possible. In this paper, we present a new fire simulator based on a realistic physical model of heat development and heat transport in urban fires. It allows to simulate three different ways of heat transport (radiation, convection, direct transport) and the influence of wind. The protective effects of spraying water on non-burning buildings is also simulated, thus allowing for more strategic and precautionary behavior of rescue agents. Our experiments showed the simulator to create realistic fire propagations both with and without influence of fire brigade agents.
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| 5. |
- Ziparo, V. A., et al.
(författare)
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RFID-Based Exploration for Large Robot Teams
- 2007
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Ingår i: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). - : IEEE. ; , s. 4606-4613
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Konferensbidrag (refereegranskat)abstract
- To coordinate a team of robots for exploration is a challenging problem, particularly in large areas as for example the devastated area after a disaster. This problem can generally be decomposed into task assignment and multi-robot path planning. In this paper, we address both problems jointly. This is possible because we reduce significantly the size of the search space by utilizing RFID tags as coordination points. The exploration approach consists of two parts: a stand-alone distributed local search and a global monitoring process which can be used to restart the local search in more convenient locations. Our results show that the local exploration works for large robot teams, particularly if there are limited computational resources. Experiments with the global approach showed that the number of conflicts can be reduced, and that the global coordination mechanism increases significantly the explored area.
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