Design and Development of Tether-Powered Multirotor Micro Unmanned Aerial Vehicle System for Remote-Controlled Construction Machine

Kiribayashi, Seiga; Yakushigawa, Kaede; Nagatani, Keiji

doi:10.1007/978-3-319-67361-5_41

Cited by 32 publications

(11 citation statements)

References 7 publications

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“…León [2] used a teleoperated assistant UGV to provide external views of a primary UGV in a simulated disaster scenario. Kiribayashi [86] used a teleoperated UAS to provide external views of a primary UGV (construction machine) in a disaster scenario. In all these studies, the viewpoint was selected manually by the teleoperator of the robotic visual assistant or primary robot.…”

Section: Manual Visual Assistantsmentioning

confidence: 99%

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Dufek

Xiao

Murphy

2021

IEEE Trans. Human-Mach. Syst.

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This dissertation creates a model of the value of different external viewpoints of a robot performing tasks. The current state of the practice is to use a teleoperated assistant robot to provide a view of a task being performed by a primary robot. However, there is no existing model of the value of different external viewpoints and the choice of viewpoints is ad hoc not always leading to improved performance. This research develops the model using a psychomotor approach based REFERENCES .

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Section: Manual Visual Assistantsmentioning

confidence: 99%

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Dufek

Xiao

Murphy

2021

IEEE Trans. Human-Mach. Syst.

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“…A more relevant category was to assist UGV's task execution by augmenting UGV's perception from UAV's onboard camera , such as "an eye in the sky" for UGV localization (Chaimowicz et al, 2004), providing stationary third person view for construction machine (Kiribayashi et al, 2018), improving navigation in case of GPS loss (Frietsch et al, 2008), UGV control with UAV's visual feedback (Xiao et al, 2017b;Xiao et al, 2015) using differential flatness (Rao et al, 2003). However, UAVs in this category always hovered at a stationary and elevated viewpoint.…”

Section: Ugv-uav Teammentioning

confidence: 99%

“…This work uses a tethered UAV as visual assistant, with the purpose of matching its battery duration with UGV's and as a failsafe in case of malfunction in mission-critical tasks. Although tethered UAVs have been studied in the literature, tether is either not incorporated into the locomotion at all, e.g., only for power (Zikou et al, 2015;Kiribayashi et al, 2018) and safety (Pratt et al, 2008) considerations, or included but only for stabilization (Lupashin and D'Andrea, 2013) or steady flight in obstacle-free space (Schulz et al, 2015). The disadvantages brought by the tether were not deeply investigated, or even not looked into for UAVs at all.…”

Section: Aerial Robots With Tethermentioning

confidence: 99%

Tethered Aerial Visual Assistance

Xiao¹,

Dufek²,

Murphy³

2020

Preprint

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In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is developed into a visual assistant in a marsupial co-robots team, collaborating with a tele-operated Unmanned Ground Vehicle (UGV) for robot operations in unstructured or confined environments. These environments pose extreme challenges to the remote tele-operator due to the lack of sufficient situational awareness, mostly caused by the unstructuredness and confinement, stationary and limited field-of-view and lack of depth perception from the robot's onboard cameras. To overcome these problems, a secondary tele-operated robot is used in current practices, who acts as a visual assistant and provides external viewpoints to overcome the perceptual limitations of the primary robot's onboard sensors. However, a second tele-operated robot requires extra manpower and teamwork demand between primary and secondary operators. The manually chosen viewpoints tend to be subjective and sub-optimal. Considering these intricacies, we develop an autonomous tethered aerial visual assistant in place of the secondary tele-operated robot and operator, to reduce human robot ratio from 2:2 to 1:2. Using a fundamental viewpoint quality theory, a formal risk reasoning framework, and a newly developed tethered motion suite, our visual assistant is able to autonomously navigate to good-quality viewpoints in a risk-aware manner through unstructured or confined spaces with a tether. The developed marsupial co-robots team could improve tele-operation efficiency in nuclear operations, bomb squad, disaster robots, and other domains with novel tasks or highly occluded environments, by reducing manpower and teamwork demand, and achieving better visual assistance quality with trustworthy riskaware motion.

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“…Several researchers have developed systems to provide such information during work periods. These include, for ex-ample, adding displays to increase fields of view (Moteki, Akihiko, Yuta, Mishima, & Fujino, 2016), providing an arbitrary view using a drone (Kiribayashi, Yakushigawa, & Nagatani, 2018), and providing views from various perspectives by automatically changing the rotation and view angle of the cameras (Kamezaki, Yang, Iwata, & Sugano, 2016). Furthermore, moving map displays designed to give a sense of robot orientation (Casner, 2005), gravity-referenced view displays to show robot attitude (Wang, Lewis, & Hughes, 2004), and stereoscopic displays to offer depth perception (Draper, Handel, & Hood, 1991) have been developed outside of the construction-research field.…”

Section: Introductionmentioning

confidence: 99%

A Basic Framework of View Systems Allowing Teleoperators to Pre-Acquire Spatial Knowledge from Survey and Route Perspectives

Satō

Kamezaki

Sugano

et al. 2018

Presence: Teleoperators and Virtual Environments

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One of the most important problems in teleoperation of heavy machinery is that the work efficiency of teleoperation is lower than half that of a typical boarding operation. This difference is primarily caused by operators' difficulty in creating mental representations (i.e., cognitive maps) of work sites. Operators have two opportunities to acquire information, namely before work and during work, because the introduction of teleoperation requires about one week. Therefore, we have developed a view system to be used before work to provide environmental information concerning work sites on the basis of human spatial cognition. Cognitive maps can be built by acquiring knowledge from two perspectives—the survey perspective and the route perspective. We display an external view from any viewpoint to acquire knowledge from a survey perspective and a view from an operator's viewpoint, which can be modified by the operator's intention to acquire knowledge from the route perspective. Experimental results using a simulator suggested that a proposed view system could help operators acquire cognitive maps, which may lead to a decrease in task time, the number of stops, and the moving distance and an increase in speed during grasping.

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Design and Development of Tether-Powered Multirotor Micro Unmanned Aerial Vehicle System for Remote-Controlled Construction Machine

Cited by 32 publications

References 7 publications

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Tethered Aerial Visual Assistance

A Basic Framework of View Systems Allowing Teleoperators to Pre-Acquire Spatial Knowledge from Survey and Route Perspectives

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