ABSTRACT:In this paper we are presenting work done within the joint development project ANKommEn. It deals with the development of a highly automated robotic system for fast data acquisition in civil disaster scenarios. One of the main requirements is a versatile system, hence the concept embraces a machine cluster consisting of multiple fundamentally different robotic platforms. To cover a large variety of potential deployment scenarios, neither the absolute amount of participants, nor the precise individual layout of each platform shall be restricted within the conceptual design. Thus leading to a variety of special requirements, like onboard and online data processing capabilities for each individual participant and efficient data exchange structures, allowing reliable random data exchange between individual robots. We are demonstrating the functionality and performance by means of a distributed mapping system evaluated with real world data in a challenging urban and rural indoor / outdoor scenarios.
ABSTRACT:The usage of unmanned systems for exploring disaster scenarios has become more and more important in recent times as a supporting system for action forces. These systems have to offer a well-balanced relationship between the quality of support and additional workload. Therefore within the joint research project ANKommEn -german acronym for Automated Navigation and Communication for Exploration -a system for exploration of disaster scenarios is build-up using multiple UAV und UGV controlled via a central ground station. The ground station serves as user interface for defining missions and tasks conducted by the unmanned systems, equipped with different environmental sensors like cameras -RGB as well as IR -or LiDAR. Depending on the exploration task results, in form of pictures, 2D stitched orthophoto or LiDAR point clouds will be transmitted via datalinks and displayed online at the ground station or will be processed in short-term after a mission, e.g. 3D photogrammetry. For mission planning and its execution, UAV/UGV monitoring and georeferencing of environmental sensor data, reliable positioning and attitude information is required. This is gathered using an integrated GNSS/IMU positioning system. In order to increase availability of positioning information in GNSS challenging scenarios, a GNSS-Multiconstellation based approach is used, amongst others. The present paper focuses on the overall system design including the ground station and sensor setups on the UAVs and UGVs, the underlying positioning techniques as well as 2D and 3D exploration based on a RGB camera mounted on board the UAV and its evaluation based on real world field tests.
<p><strong>Abstract.</strong> Disasters such as floods, large fires, landslides, avalanches, or forest fires are often inevitable and cannot be fully prevented, but their impact can be minimized with sound disaster management strategies aided by the latest technological advancements. A key factor affecting these strategies is the time, where any delay can result in dramatic consequences and potentially human losses. Therefore, a quick situation report of the disaster is highly demanded, but still not an easy task because - in most cases - a priori known spatial information like map data or geo-databases, are outdated. In addition, visual and geometric information on the current situation is needed to help rescue teams and first responders. From this point of view, we came up to the main idea of the joint research project ANKommEn and its extension ANKommEn 2 (german acronym for Automated Navigation and Communication for Exploration). The project idea embodies an exploratory investigation to be smart in providing correct and timely geodata that can help in emergency cases; especially in support decision making in emergency risk management. For this purpose, automated unmanned systems, both ground (UGV) and airborne (UAV), are being developed to provide up-to-date information of rescue scenarios.</p>
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