Human–Robot Interaction in Rescue Robotics

Murphy, Robin R.

doi:10.1109/tsmcc.2004.826267

Cited by 521 publications

(275 citation statements)

References 33 publications

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“…However, very few clustering techniques that specifically optimize the loadsharing metric are available in literature. The new application domains like ad hoc networks [5], [1], and emergency resource deployment [28] require clusters with almost equal number of data objects per cluster to satisfy the constraints.…”

Section: Related Workmentioning

confidence: 99%

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A Game Theoretic Approach for Simultaneous Compaction and Equipartitioning of Spatial Data Sets

Gupta

Ranganathan

2010

IEEE Trans. Knowl. Data Eng.

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Abstract-Data and object clustering techniques are used in a wide variety of scientific applications such as biology, pattern recognition, information systems, etc. Traditionally, clustering methods have focused on optimizing a single metric, however, several multidisciplinary applications such as robot team deployment, ad hoc networks, facility location, etc., require the simultaneous examination of multiple metrics during clustering. In this paper, we propose a novel approach for spatial data clustering based on the concepts of microeconomic theory, which can simultaneously optimize both the compaction and the equipartitioning objectives. The algorithm models a multistep, normal form game consisting of randomly initialized clusters as players that compete for the allocation of data objects from resource locations. A Nash-equilibrium-based methodology is used to derive solutions that are socially fair for all the players. After each step, the clusters are updated using the KMeans algorithm, and the process is repeated until the stopping criteria are satisfied. Extensive simulations were performed on several real data sets as well as artificially synthesized data sets to evaluate the efficacy of the algorithm. Experimental results indicate that the proposed algorithm yields significantly better results as compared to the traditional algorithms. Further, the proposed algorithm yields a high value of fairness, a metric that indicates the quality of the solution in terms of simultaneous optimization of the objectives. Also, the sensitivity of the various design parameters on the performance of our algorithm is analyzed and reported.

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Section: Related Workmentioning

confidence: 99%

“…1a. In addition to the emergency response personnel, deployment of several robotic units may be required to perform search and rescue operations in locations where human investigation is difficult [28]. These robotic units would frequently communicate with each other, as well as with the base station, over a wireless ad hoc network.…”

Section: Introductionmentioning

confidence: 99%

A Game Theoretic Approach for Simultaneous Compaction and Equipartitioning of Spatial Data Sets

Gupta

Ranganathan

2010

IEEE Trans. Knowl. Data Eng.

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“…In GPS-denied settings, visual servoing-closed-loop position control by reference to fixed visual landmarks [1]offers an attractive approach to self-localization, particularly over complex terrain where broken [2], unstable [3], and flowing [4] substrates preclude odometry. Advances in computer vision, processing power, and algorithmic insight [5] lend ever more speed and reliability to the extraction and tracking of natural features from successive camera images.…”

Section: Introductionmentioning

confidence: 99%

Active sensing for dynamic, non-holonomic, robust visual servoing

Bayer

Koditschek

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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We consider the problem of visually servoing a legged vehicle with unicycle-like nonholonomic constraints subject to second-order fore-aft dynamics in its horizontal plane. We target applications to rugged environments characterized by complex terrain likely to perturb significantly the robot's nominal dynamics. At the same time, it is crucial that the camera avoid "obstacle" poses where absolute localization would be compromised by even partial loss of landmark visibility. Hence, we seek a controller whose robustness against disturbances and obstacle avoidance capabilities can be assured by a strict global Lyapunov function. Since the nonholonomic constraints preclude smooth point stabilizability we introduce an extra degree of sensory freedom, affixing the camera to an actuated panning axis mounted on the robot's back. Smooth stabilizability to the robot-orientation-indifferent goal cycle no longer precluded, we construct a controller and strict global Lyapunov function with the desired properties. We implement several versions of the scheme on a RHex robot maneuvering over slippery ground and document its successful empirical performance. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/661Active Sensing for Dynamic, Non-holonomic, Robust Visual Servoing Avik De , Karl S. Bayer † and Daniel E. Koditschek Abstract-We consider the problem of visually servoing a legged vehicle with unicycle-like nonholonomic constraints subject to second-order fore-aft dynamics in its horizontal-plane. We target applications to rugged environments characterized by complex terrain likely to significantly perturb the robot's nominal dynamics. At the same time, it is crucial that the camera avoid "obstacle" poses where absolute localization would be compromised by even partial loss of landmark visibility. Hence, we seek a controller whose robustness against disturbances and obstacle avoidance capabilities can be assured by a strict global Lyapunov function. Since the nonholonomic constraints preclude smooth point stabilizability we introduce an extra degree of sensory freedom, affixing the camera to an actuated panning axis on the robot's back. Smooth stabilizability to the robot-orientation-indifferent goal cycle no longer precluded, we construct a controller and strict global Lyapunov function with the desired properties. We implement several versions of the scheme on a RHex robot maneuvering over slippery...

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“…When rescue robots are categorized, the locomotion of the robots is mostly either as tracked vehicles 12,13 or snaketype robots. 14,15 It is also suggested that if they can change their shapes, this will assist them to climb and maneuver in confined spaces.…”

Section: Introductionmentioning

confidence: 99%

Design and prototype of mobile robots for rescue operations

Keçeci

2008

Robotica

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SUMMARYThis study concerns the design and prototype of four different mobile robot platforms for rescue robot operations after an earthquake. At first, a test field is constructed to represent a mildly damaged earthquake zone. The test field consists of eight different sections: sand, gravel, ditch, water, bridge, incline, decline, and turn. The mechanical structure, electronics, software, communication, and possible sensory systems are explained. After the robots are manufactured, they are physically tested for their performance in the test field for 18 different parameters. The test results show the effective body structure. Challenges of the rescue robot design are explained and future expectations are given.

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Human–Robot Interaction in Rescue Robotics

Cited by 521 publications

References 33 publications

A Game Theoretic Approach for Simultaneous Compaction and Equipartitioning of Spatial Data Sets

A Game Theoretic Approach for Simultaneous Compaction and Equipartitioning of Spatial Data Sets

Active sensing for dynamic, non-holonomic, robust visual servoing

Design and prototype of mobile robots for rescue operations

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