TY - GEN
T1 - A semi-autonomous tracked robot system for rescue missions
AU - Calisi, Daniele
AU - Nardi, Daniele
AU - Ohno, Kazunori
AU - Tadokoro, Satoshi
PY - 2008
Y1 - 2008
N2 - In this paper we describe our work in integrating the results of two previous researches carried on on two different robots. Both robots are designed to help human operators in rescue missions. In the first case, a wheeled robot has been used to develop some software modules. These modules provide the capabilities for autonomously explore an unknown environment and build a metric map while navigating. The second system has been designed to face more challenging scenarios: the robot has tracks and flippers, and features a semi-autonomous behavior to overcome small obstacles and avoid rollovers while moving on debris and unstructured ground. We show how the set of software modules of the first system has been installed on the tracked robot and merged with its semi-autonomous behavior algorithm, and we discuss the results of this integration with a set of experiments.
AB - In this paper we describe our work in integrating the results of two previous researches carried on on two different robots. Both robots are designed to help human operators in rescue missions. In the first case, a wheeled robot has been used to develop some software modules. These modules provide the capabilities for autonomously explore an unknown environment and build a metric map while navigating. The second system has been designed to face more challenging scenarios: the robot has tracks and flippers, and features a semi-autonomous behavior to overcome small obstacles and avoid rollovers while moving on debris and unstructured ground. We show how the set of software modules of the first system has been installed on the tracked robot and merged with its semi-autonomous behavior algorithm, and we discuss the results of this integration with a set of experiments.
KW - Autonomy
KW - Rescue mission
KW - Tracked robot
UR - http://www.scopus.com/inward/record.url?scp=56749160529&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=56749160529&partnerID=8YFLogxK
U2 - 10.1109/SICE.2008.4655002
DO - 10.1109/SICE.2008.4655002
M3 - Conference contribution
AN - SCOPUS:56749160529
SN - 9784907764296
T3 - Proceedings of the SICE Annual Conference
SP - 2066
EP - 2069
BT - Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
T2 - SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Y2 - 20 August 2008 through 22 August 2008
ER -