A Novel Marsupial Robot Society: Towards Long-Term Autonomy

Matusiak, Marek; Paanajärvi, Janne; Appelqvist, Pekka; Elomaa, Mikko; Vainio, Mika; Ylikorpi, Tomi; Halme, Aarne

doi:10.1007/978-3-642-00644-9_46

Cited by 7 publications

(9 citation statements)

References 10 publications

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“…The problem can be formulated as follows: given (1), (2), (3), (4), (7), (9), find x c (t), y c (t), x p (t), y p (t), 0 ≤ t ≤ t f , such that (8) is satisfied and (12) is minimized.…”

Section: Problem Formulationmentioning

confidence: 99%

“…Marsupial robot architectures for urban search and rescue are described in [5], [6], [7], and [8]. The problem of energy allocation and distribution within a group of marsupial vehicles is treated in [9]. In [10], the authors investigate a marsupial architecture involving a carrier underwater vehicle and passenger underwater vehicle which mimic fish; an algorithm for the passenger vehicle to track a light source while avoiding obstacles is presented and its effectiveness shown in a test where the carrier vehicle deploys the passenger vehicle and the passenger must subsequently follow the carrier vehicle.…”

Section: B Literature Reviewmentioning

confidence: 99%

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Path planning for information acquisition and evasion using marsupial vehicles

Fargeas

Kabamba

Girard

2015

2015 American Control Conference (ACC)

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This paper considers a path planning problem with two marsupial vehicles (one carrier vehicle and one passenger vehicle that is deployed by the carrier vehicle) exploring a planar area. This work is motivated by multiagent intelligence, surveillance, and reconnaissance missions in contested environments. The vehicles are heterogeneous, e.g., the carrier vehicle is faster than the passenger vehicle or the passenger vehicle possesses better sensors than the carrier vehicle. The vehicles are to gather a finite amount of information about an object of interest using their sensors while minimizing the likelihood of their detection by an opponent. Necessary conditions for optimal solutions are given and straight line travel for both vehicles is shown to be optimal. The results are illustrated in several simulation examples.

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“…The problem can be formulated as follows: given (1), (2), (3), (4), (7), (9), find x c (t), y c (t), x p (t), y p (t), 0 ≤ t ≤ t f , such that (8) is satisfied and (12) is minimized.…”

Section: Problem Formulationmentioning

confidence: 99%

Section: B Literature Reviewmentioning

confidence: 99%

Path planning for information acquisition and evasion using marsupial vehicles

Fargeas

Kabamba

Girard

2015

2015 American Control Conference (ACC)

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“…The robot is a tracked platform, weighting approximately 100kg and carries along 100Ah of energy as well as sensors and sufficient computation power. Further details about the robotic system can be found in [26]. In the MUSAS, a laser range finder and dead reckoning for creating the map are used.…”

Section: A Overviewmentioning

confidence: 99%

Localization Services for Online Common Operational Picture and Situation Awareness

et al. 2013

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Many operations, be they military, police, rescue, or other field operations, require localization services and online situation awareness to make them effective. Questions such as how many people are inside a building and their locations are essential. In this paper, an online localization and situation awareness system is presented, called Mobile Urban Situation Awareness System (MUSAS), for gathering and maintaining localization information, to form a common operational picture. The MUSAS provides multiple localization services, as well as visualization of other sensor data, in a common frame of reference. The information and common operational picture of the system is conveyed to all parties involved in the operation, the field team, and people in the command post. In this paper, a general system architecture for enabling localization based situation awareness is designed and the MUSAS system solution is presented. The developed subsystem components and forming of the common operational picture are summarized, and the future potential of the system for various scenarios is discussed. In the demonstration, the MUSAS is deployed to an unknown building, in an ad hoc fashion, to provide situation awareness in an urban indoor military operation.

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“…Another possibility are marsupial systems that have a homogenous group of small robots, that can be transported by a "mothership" [10], [11]; therefore CMP-MAR is introduced.…”

Section: B What Is Cooperation?mentioning

confidence: 99%

Multi-robot Cooperation in Space: A Survey

Leitner¹

2009

2009 Advanced Technologies for Enhanced Quality of Life

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Abstract-This paper reviews the literature related to multi-robot research with a focus on space applications. It starts by examining definitions of, and some of the fields of research, in multi-robot systems. An overview of space applications with multiple robots and cooperating multiple robots is presented. The multi-robot cooperation techniques used in theoretical research as well as experiments are reviewed, and the applicability for space applications is investigated.

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A Novel Marsupial Robot Society: Towards Long-Term Autonomy

Cited by 7 publications

References 10 publications

Path planning for information acquisition and evasion using marsupial vehicles

Path planning for information acquisition and evasion using marsupial vehicles

Localization Services for Online Common Operational Picture and Situation Awareness

Multi-robot Cooperation in Space: A Survey

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