Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System

Klamt, Tobias; Kameduła, Małgorzata; Karaoğuz, Hakan; Kashiri, Navvab; Laurenzi, Arturo; Lenz, Christian; Leonardis, Daniele; Hoffman, Enrico Mingo; Muratore, Luca; Pavlichenko, Dmytro; Porcini, Francesco; Rodríguez, Diego; Ren, Zeyu; Schilling, Fabian; Schwarz, Max; Solazzi, Massimiliano; Felsberg, Michael; Frisoli, Antonio; Gustmann, Michael; Jensfelt, Patric; Nordberg, Klas; Roßmann, Jürgen; Baccelliere, Lorenzo; Suess, Uwe; Tsagarakis, Nikos G.; Behnke, Sven; Chen, Xi; Chiaradia, Domenico; Cichon, Torben; Gabardi, Massimiliano; Guria, Paolo; Holmquist, Karl

doi:10.1109/mra.2019.2941248

Cited by 54 publications

(31 citation statements)

References 22 publications

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“…ternational projects and international competitions in SAR robotics, which are listed in Table 2. Some of the projects focus in the development of complex robotic systems that can be remotely controlled [14]. However, the majority of the projects consider multi-robot systems [15]- [18], and over half of the projects consider collaborative heterogeneous robots.…”

Section: International Projects and Competitionsmentioning

confidence: 99%

“…Other international projects designing and developing autonomous multi-robot systems for SAR operations include the NIFTi EU project (natural human-robot cooperation in dynamic environments) [16], ICARUS (unmanned SAR) [18], [22], TRADR (long-term human-robot teaming for disaster response) [17], [23], [24], or SmokeBot (mobile robots with novel environmental sensors for inspection of disaster sites with low visibility) [25], [26]. Other projects, such as CEN-TAURO (robust mobility and dexterous manipulation in disaster response by fullbody telepresence in a centaur-like robot), have focused on the development of more advanced robots that are not fully autonomous but controlled in realtime [14].…”

Section: International Projects and Competitionsmentioning

confidence: 99%

“…Two complimentary examples of ground robots for SAR operations are introduced in [41], where both large and small robots are described. Ground robots for SAR missions can be characterized among those with dexterous manipulation capabilities and robust mobility on uneven terrain, such as the robot developed within the CENTAURO project [14], smaller robots with the ability of moving through tight spaces [41], or serpentine-like robots able of tethered operation across complex environments [42]. The recent DARPA SubT challenge has seen the design and deployment of flexible and robust ground units able of long-term autonomy and carry aerial units.…”

Section: ) Ground Robotsmentioning

confidence: 99%

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Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

et al. 2020

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Search and rescue (SAR) operations can take significant advantage from supporting autonomous or teleoperated robots and multi-robot systems. These can aid in mapping and situational assessment, monitoring and surveillance, establishing communication networks, or searching for victims. This paper provides a review of multi-robot systems supporting SAR operations, with system-level considerations and focusing on the algorithmic perspectives for multi-robot coordination and perception. This is, to the best of our knowledge, the first survey paper to cover (i) heterogeneous SAR robots in different environments, (ii) active perception in multi-robot systems, while (iii) giving two complementary points of view from the multi-agent perception and control perspectives. We also discuss the most significant open research questions: shared autonomy, sim-to-real transferability of existing methods, awareness of victims' conditions, coordination and interoperability in heterogeneous multi-robot systems, and active perception. The different topics in the survey are put in the context of the different challenges and constraints that various types of robots (ground, aerial, surface, or underwater) encounter in different SAR environments (maritime, urban, wilderness, or other post-disaster scenarios). The objective of this survey is to serve as an entry point to the various aspects of multi-robot SAR systems to researchers in both the machine learning and control fields by giving a global overview of the main approaches being taken in the SAR robotics area.

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Section: International Projects and Competitionsmentioning

confidence: 99%

Section: International Projects and Competitionsmentioning

confidence: 99%

Section: ) Ground Robotsmentioning

confidence: 99%

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Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

et al. 2020

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“…Even in these much-researched areas, there are still innovations, as the current works of (Gancet et al, 2015 ; Attard et al, 2018 ; Skilton et al, 2018 ; Klamt et al, 2019 ; Pervez et al, 2019 ) show. In addition, advances in telemanipulation are made possible by new technologies such as tactile feedback (Kuchenbecker et al, 2010 ; Fishel et al, 2016 ), augmented (Lee and Park, 2018 ), and virtual reality (Sagardia et al, 2015 ).…”

Section: Related Workmentioning

confidence: 99%

Kinesthetic Device vs. Keyboard/Mouse: A Comparison in Home Care Telemanipulation

et al. 2020

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Ensuring care is one of the biggest humanitarian challenges of the future since an acute shortage in nursing staff is expected. At the same time, this offers the opportunity for new technologies in nursing, as the use of robotic systems. One potential use case is outpatient care, which nowadays involves traveling long distances. Here, the use of telerobotics could provide a major relief for the nursing staff, as it could spare them many of those—partially far—journeys. Since autonomous robotic systems are not desired at least in Germany for ethical reasons, this paper evaluates the design of a telemanipulation system consisting of off-the-shelf components for outpatient care. Furthermore, we investigated the suitability of two different input devices for control, a kinesthetic device, and a keyboard plus mouse. We conducted the investigations in a laboratory study. This laboratory represents a realistic environment of an elderly home and a remote care service center. It was carried out with 25 nurses. Tasks common in outpatient care, such as handing out things (manipulation) and examining body parts (set camera view), were used in the study. After a short training period, all nurses were able to control a manipulator with the two input devices and perform the two tasks. It was shown that the Falcon leads to shorter execution times (on average 0:54.82 min, compared to 01:10.92 min with keyboard and mouse), whereby the participants were more successful with the keyboard plus mouse, in terms of task completion. There is no difference in usability and cognitive load. Moreover, we pointed out, that the access to this kind of technology is desirable, which is why we identified further usage scenarios.

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“…Dual-arm robotic systems are widely used in various settings to expand the working range compared with single-arm robotic systems. As described in [1,2], dual-arm systems are widely used in space robots and disaster environments. To perform complicated tasks, each arm is provided with different targets and trajectories.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots

et al. 2020

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Self-collisions of a dual-arm robot system can cause severe damage to the robot. To deal with this problem, this paper presents a real-time algorithm for preventing self-collisions in dual-arm systems. Our first contribution in this work is a novel collision model built using discrete spherical bounding volumes with different radii. In addition, we propose a sensitivity index to measure the distance between spheres with different radii in real time. Next, according to the minimal sensitivity index between different spheres, the repulsive velocity is produced at the centers of the spheres (control points), which the robot uses to generate new motion based on the robot kinematic model. The proposed algorithm offers the additional benefits of a decrease in the number of bounding spheres, and a simple collision model that can effectively decrease the computational cost of the process. To demonstrate the validity of the algorithm, we performed simulations and experiments by an upper-body humanoid robot. Although the repulsive velocity acted on the control points, the results indicate that the algorithm can effectively achieve self-collision avoidance by using a simple collision model.

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Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System

Cited by 54 publications

References 22 publications

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

Kinesthetic Device vs. Keyboard/Mouse: A Comparison in Home Care Telemanipulation

Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots

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