Design of a Hybrid Exploration Robot for Air and Land Deployment (H.E.R.A.L.D) for urban search and rescue applications

Latscha, Stella; Kofron, Michael; Stroffolino, Anthony; Davis, Lauren B.; Merritt, Gabrielle; Piccoli, Matthew; Yim, Mark

doi:10.1109/iros.2014.6942808

Cited by 18 publications

(11 citation statements)

References 18 publications

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“…The repulsion mechanism can respond in two different ways. First one, when a comfortable distance is reached and its parameter is expressed by (3) [−k(…”

Section: Navigation Processmentioning

confidence: 99%

“…Robotics is presented as a viable alternative thanks to the use of sensors and actuators which allow to minimize human failures. Taking this into account, some works [2][3][4] explore the idea of robotics platforms with a hybrid mechanics design. The proposed mechanism allows the robot to navigate on land and air avoiding get stuck in complex environments.…”

Section: Introductionmentioning

confidence: 99%

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Robot Swarm Navigation and Victim Detection Using Rendezvous Consensus in Search and Rescue Operations

Cardona

Calderón

2019

Applied Sciences

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Cooperative behaviors in multi-robot systems emerge as an excellent alternative for collaboration in search and rescue tasks to accelerate the finding survivors process and avoid risking additional lives. Although there are still several challenges to be solved, such as communication between agents, power autonomy, navigation strategies, and detection and classification of survivors, among others. The research work presented by this paper focuses on the navigation of the robot swarm and the consensus of the agents applied to the victims detection. The navigation strategy is based on the application of particle swarm theory, where the robots are the agents of the swarm. The attraction and repulsion forces that are typical in swarm particle systems are used by the multi-robot system to avoid obstacles, keep group compact and navigate to a target location. The victims are detected by each agent separately, however, once the agents agree on the existence of a possible victim, these agents separate from the general swarm by creating a sub-swarm. The sub-swarm agents use a modified rendezvous consensus algorithm to perform a formation control around the possible victims and then carry out a consensus of the information acquired by the sensors with the aim to determine the victim existence. Several experiments were conducted to test navigation, obstacle avoidance, and search for victims. Additionally, different situations were simulated with the consensus algorithm. The results show how swarm theory allows the multi-robot system navigates avoiding obstacles, finding possible victims, and settling down their possible use in search and rescue operations.

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“…The repulsion mechanism can respond in two different ways. First one, when a comfortable distance is reached and its parameter is expressed by (3) [−k(…”

Section: Navigation Processmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robot Swarm Navigation and Victim Detection Using Rendezvous Consensus in Search and Rescue Operations

Cardona

Calderón

2019

Applied Sciences

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“…This is likely due to the presence of the citizens, which might naturally be more inclined to share the urban space with human-friendly presences. Aerial platforms-employed both as single units [16,26,28,76] and in combination with other platforms [60], are less common, likely due to the rather recent emergence of drones as reliable platforms, as well as to the regulations currently restricting their usage in public spaces. The ability of robots to perform different actions is analyzed in Fig.…”

Section: Agent Contextmentioning

confidence: 99%

“…The ability of management is mostly employed in combination with perception and navigation-typically scenarios involving more than one robot, e.g. such as monitoring spaces for security or traffic management purposes [5,40,51,60,61,110,112]. Figure 4 shows the robot autonomy level in the analyzed works.…”

Section: Agent Contextmentioning

confidence: 99%

Robot–City Interaction: Mapping the Research Landscape—A Survey of the Interactions Between Robots and Modern Cities

Tiddi

Bastianelli²,

Daga

et al. 2019

Int J of Soc Robotics

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The goal of this work is to describe how robots interact with complex city environments, and to identify the main characteristics of an emerging field that we call Robot-City Interaction (RCI). Given the central role recently gained by modern cities as use cases for the deployment of advanced technologies, and the advancements achieved in the robotics field in recent years, we assume that there is an increasing interest both in integrating robots in urban ecosystems, and in studying how they can interact and benefit from each others. Therefore, our challenge becomes to verify the emergence of such area, to assess its current state and to identify the main characteristics, core themes and research challenges associated with it. This is achieved by reviewing a preliminary body of work contributing to this area, which we classify and analyze according to an analytical framework including a set of key dimensions for the area of RCI. Such review not only serves as a preliminary state-of-the-art in the area, but also allows us to identify the main characteristics of RCI and its research landscape.

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“…HERALD [8], HyTAQ [7], and Pens-FlyCrawl [9] are some of the pioneer robots with aerial and terrain locomotion. HERALD (Hybrid Exploration Robot for Air and Land Deployment) [8] has three robots -a quadrotor and two snake robots, which connects using a magnetic docking mechanism. The snake robots can perform wheeled locomotion individually or together with the quadrotor attached.…”

Section: Related Workmentioning

confidence: 99%

Mechanical Design and Analysis of Hybrid Mobile Robot with Aerial and Terrain Locomotion Capability

Koshy

Sreevishnu

Krishnan

2018

MATEC Web of Conferences

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Abstract. Although different locomotion mechanisms are available, the use of only one locomotion system in a mobile robot restricts its application scenarios. Hybrid locomotion improves the maneuverability and flexibility of a robot. This paper introduces a hybrid locomotion mobile robot, a combination of quadruped and quadrotor system. The robot has a unique expediency to fly to remote places, then walk to perform close range operations in the field. The prime intention is to use the quadrotor to tackle large objects by flying over it. The four legs provide easy movements in uneven terrain. Thus, this robot can be used in erratic and dynamic environments where stability, maneuverability and flexibility are required. This system can be used as first responders in search and rescue missions, where it responds before human responders gets to the site and get the entire information of the area in detail (like spotting trapped ones, getting detailed 3D mapping etc.). This platform offers unique capabilities suited for search and rescue, disaster zone assistance and surveillances. This paper elucidates the mechanical design and analysis of a hybrid locomotion robot. The solid model of the robot was made using CATIA and further analysis like static analysis, computational fluid dynamics analysis and drop test analysis were performed in ANSYS.

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Design of a Hybrid Exploration Robot for Air and Land Deployment (H.E.R.A.L.D) for urban search and rescue applications

Cited by 18 publications

References 18 publications

Robot Swarm Navigation and Victim Detection Using Rendezvous Consensus in Search and Rescue Operations

Robot Swarm Navigation and Victim Detection Using Rendezvous Consensus in Search and Rescue Operations

Robot–City Interaction: Mapping the Research Landscape—A Survey of the Interactions Between Robots and Modern Cities

Mechanical Design and Analysis of Hybrid Mobile Robot with Aerial and Terrain Locomotion Capability

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