Development of a networked robotic system for disaster mitigation - Test bed experiments for remote operation over rough terrain and high resolution 3D geometry acquisition

Kazuya Yoshida; Keiji Nagatani; Kiyoshi Kiyokawa; Yasushi Yagi; Tadashi Adachi; Hiroaki Saitoh; Hiroyuki Tanaka; Hiroyuki Ohno

doi:10.1007/978-3-540-33453-8_35

Development of a networked robotic system for disaster mitigation - Test bed experiments for remote operation over rough terrain and high resolution 3D geometry acquisition

Kazuya Yoshida, Keiji Nagatani, Kiyoshi Kiyokawa, Yasushi Yagi, Tadashi Adachi, Hiroaki Saitoh, Hiroyuki Tanaka, Hiroyuki Ohno

ENG - Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a newly initiated project of networked robotic system for disaster mitigation is introduced. In this project, multiple robots are coordinately operated through ad-hoc wireless communication network, including satellite-based IP communication link, for surveillance tasks at a disaster site. The robot system consists of a large-scale outdoor robot to serve as a carrier of small robots and a fleet of small robots to be deployed at a specific spot such as an inside of a building complex. A combination of a laser range scanner and an omni-directional camera is used to acquire high resolution 3D geometry data and rendering images. Those data and images are displayed using Mixed Reality (MR) technology at a remote site to provide an overall picture for operation managers with high fidelity. This paper presents our initial experiments using a robot test bed with an emphasis on remote operation over rough terrain and for acquisition of high resolution 3D geometry data and telepresence using MR technology.

Original language	English
Title of host publication	Robotics
Subtitle of host publication	Results of the 5th International Conference
Editors	Salah Sukkariah, Peter Corke
Publisher	Springer Verlag
Pages	415-425
Number of pages	11
ISBN (Print)	3540334521, 9783540334521, 9783540334521
DOIs	https://doi.org/10.1007/978-3-540-33453-8_35
Publication status	Published - 2006
Event	5th International Conference on Field and Service Robotics, FSR 2005 - Port Douglas, Australia Duration: 2005 Jul 29 → 2005 Jul 31

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	25
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

Conference

Conference	5th International Conference on Field and Service Robotics, FSR 2005
Country/Territory	Australia
City	Port Douglas
Period	05/7/29 → 05/7/31

Keywords

Ad-hoc networking
Disaster mitigation
Laser range scanner
Mixed reality
Omnidirectional camera
Surveillance robots
Telepresence and teleoperation
Wireless and satellite-based IP communication

Access to Document

10.1007/978-3-540-33453-8_35

Cite this

Yoshida, K., Nagatani, K., Kiyokawa, K., Yagi, Y., Adachi, T., Saitoh, H., Tanaka, H., & Ohno, H. (2006). Development of a networked robotic system for disaster mitigation - Test bed experiments for remote operation over rough terrain and high resolution 3D geometry acquisition. In S. Sukkariah, & P. Corke (Eds.), Robotics: Results of the 5th International Conference (pp. 415-425). (Springer Tracts in Advanced Robotics; Vol. 25). Springer Verlag. https://doi.org/10.1007/978-3-540-33453-8_35

Yoshida, Kazuya ; Nagatani, Keiji ; Kiyokawa, Kiyoshi et al. / Development of a networked robotic system for disaster mitigation - Test bed experiments for remote operation over rough terrain and high resolution 3D geometry acquisition. Robotics: Results of the 5th International Conference. editor / Salah Sukkariah ; Peter Corke. Springer Verlag, 2006. pp. 415-425 (Springer Tracts in Advanced Robotics).

@inproceedings{b67f3f241deb4a98ba0ec924fb5c3d37,

title = "Development of a networked robotic system for disaster mitigation - Test bed experiments for remote operation over rough terrain and high resolution 3D geometry acquisition",

abstract = "In this paper, a newly initiated project of networked robotic system for disaster mitigation is introduced. In this project, multiple robots are coordinately operated through ad-hoc wireless communication network, including satellite-based IP communication link, for surveillance tasks at a disaster site. The robot system consists of a large-scale outdoor robot to serve as a carrier of small robots and a fleet of small robots to be deployed at a specific spot such as an inside of a building complex. A combination of a laser range scanner and an omni-directional camera is used to acquire high resolution 3D geometry data and rendering images. Those data and images are displayed using Mixed Reality (MR) technology at a remote site to provide an overall picture for operation managers with high fidelity. This paper presents our initial experiments using a robot test bed with an emphasis on remote operation over rough terrain and for acquisition of high resolution 3D geometry data and telepresence using MR technology.",

keywords = "Ad-hoc networking, Disaster mitigation, Laser range scanner, Mixed reality, Omnidirectional camera, Surveillance robots, Telepresence and teleoperation, Wireless and satellite-based IP communication",

author = "Kazuya Yoshida and Keiji Nagatani and Kiyoshi Kiyokawa and Yasushi Yagi and Tadashi Adachi and Hiroaki Saitoh and Hiroyuki Tanaka and Hiroyuki Ohno",

note = "Publisher Copyright: {\textcopyright} Springer-Verlag Berlin Heidelberg 2006.; 5th International Conference on Field and Service Robotics, FSR 2005 ; Conference date: 29-07-2005 Through 31-07-2005",

year = "2006",

doi = "10.1007/978-3-540-33453-8_35",

language = "English",

isbn = "3540334521",

series = "Springer Tracts in Advanced Robotics",

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Yoshida, K, Nagatani, K, Kiyokawa, K, Yagi, Y, Adachi, T, Saitoh, H, Tanaka, H & Ohno, H 2006, Development of a networked robotic system for disaster mitigation - Test bed experiments for remote operation over rough terrain and high resolution 3D geometry acquisition. in S Sukkariah & P Corke (eds), Robotics: Results of the 5th International Conference. Springer Tracts in Advanced Robotics, vol. 25, Springer Verlag, pp. 415-425, 5th International Conference on Field and Service Robotics, FSR 2005, Port Douglas, Australia, 05/7/29. https://doi.org/10.1007/978-3-540-33453-8_35

Development of a networked robotic system for disaster mitigation - Test bed experiments for remote operation over rough terrain and high resolution 3D geometry acquisition. / Yoshida, Kazuya; Nagatani, Keiji; Kiyokawa, Kiyoshi et al.
Robotics: Results of the 5th International Conference. ed. / Salah Sukkariah; Peter Corke. Springer Verlag, 2006. p. 415-425 (Springer Tracts in Advanced Robotics; Vol. 25).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Yagi, Yasushi

AU - Adachi, Tadashi

AU - Saitoh, Hiroaki

AU - Tanaka, Hiroyuki

AU - Ohno, Hiroyuki

N1 - Publisher Copyright: © Springer-Verlag Berlin Heidelberg 2006.

PY - 2006

Y1 - 2006

N2 - In this paper, a newly initiated project of networked robotic system for disaster mitigation is introduced. In this project, multiple robots are coordinately operated through ad-hoc wireless communication network, including satellite-based IP communication link, for surveillance tasks at a disaster site. The robot system consists of a large-scale outdoor robot to serve as a carrier of small robots and a fleet of small robots to be deployed at a specific spot such as an inside of a building complex. A combination of a laser range scanner and an omni-directional camera is used to acquire high resolution 3D geometry data and rendering images. Those data and images are displayed using Mixed Reality (MR) technology at a remote site to provide an overall picture for operation managers with high fidelity. This paper presents our initial experiments using a robot test bed with an emphasis on remote operation over rough terrain and for acquisition of high resolution 3D geometry data and telepresence using MR technology.

AB - In this paper, a newly initiated project of networked robotic system for disaster mitigation is introduced. In this project, multiple robots are coordinately operated through ad-hoc wireless communication network, including satellite-based IP communication link, for surveillance tasks at a disaster site. The robot system consists of a large-scale outdoor robot to serve as a carrier of small robots and a fleet of small robots to be deployed at a specific spot such as an inside of a building complex. A combination of a laser range scanner and an omni-directional camera is used to acquire high resolution 3D geometry data and rendering images. Those data and images are displayed using Mixed Reality (MR) technology at a remote site to provide an overall picture for operation managers with high fidelity. This paper presents our initial experiments using a robot test bed with an emphasis on remote operation over rough terrain and for acquisition of high resolution 3D geometry data and telepresence using MR technology.

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SN - 9783540334521

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ER -

Yoshida K, Nagatani K, Kiyokawa K, Yagi Y, Adachi T, Saitoh H et al. Development of a networked robotic system for disaster mitigation - Test bed experiments for remote operation over rough terrain and high resolution 3D geometry acquisition. In Sukkariah S, Corke P, editors, Robotics: Results of the 5th International Conference. Springer Verlag. 2006. p. 415-425. (Springer Tracts in Advanced Robotics). doi: 10.1007/978-3-540-33453-8_35

Development of a networked robotic system for disaster mitigation - Test bed experiments for remote operation over rough terrain and high resolution 3D geometry acquisition

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Keywords

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