Methods and techniques for intelligent navigation and manipulation for bomb disposal and rescue operations

Beltrán-González, Carlos; Γαστεράτος, Αντώνιος; Amanatiadis, Angelos; Chrysostomou, Dimitrios; Guzmán, Roberto; Toth, András Jozsef; Szöllösi, Loránd; Juhász, András; Galambos, Péter

doi:10.1109/ssrr.2007.4381291

Cited by 19 publications

(8 citation statements)

References 7 publications

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“…Both the U.S. National Fire Protection Association and the U.S. National Institute for Occupational Safety and Health have reported that this challenging manual operation contributed to an increase in human casualties (Fischer & Gellersen, ). Fortunately, security and intervention operation robots represent a rapidly rising sector of robotics, which employs systems that can support first responders in such critical missions (Beltrán‐González et al., ; Matsuno & Tadokoro, ).…”

Section: Related Workmentioning

confidence: 99%

Autonomous Vehicle Emergency Recovery Tool: A Cooperative Robotic System for Car Extraction

et al. 2015

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Vehicles have been proven to be an ideal means for terrorists because they can be meticulously prepared well in advance before being deployed in urban and public places. To increase the risk and burden of explosive ordnance disposal teams, third-party vehicles have also been used to block the access path to the explosive loaded vehicle. In this paper, we present a multirobot system that can remove vehicles from confined spaces with delicate handling, swiftly and in any direction to a safer disposal point. The new lifting robots, capable of omnidirectional movement, autonomously underride the identified vehicle and dock to its wheels for a synchronized lifting and extraction. The validity and efficiency of the novel robotic system is illustrated via experiments in an indoor parking lot, demonstrating successful autonomous navigation, docking, lifting, and extraction of a conventional car for a total covered distance of 20 m. C 2015 Wiley Periodicals, Inc.

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Section: Related Workmentioning

confidence: 99%

Autonomous Vehicle Emergency Recovery Tool: A Cooperative Robotic System for Car Extraction

et al. 2015

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“…The challenging and non-deterministic nature of the environments encountered in these applications means that full robot autonomy may not be an effective solution. Utilizing shared autonomy however can employ the operator's human level judgement and intuition while using robot autonomy where appropriate [8]. Teleoperation of a remote robot requires the provision of a suitable User Interface (UI) enabling the operator to adequately control the robot [9].…”

Section: Introductionmentioning

confidence: 99%

Searching Baxter's URDF robot joint and link tree for active serial chains

Mortimer

Horan

Joordens

et al. 2015

2015 10th System of Systems Engineering Conference (SoSE)

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teleoperation is integral to society's uptake of modern robotic systems. Given the wide array of readily available robots, ranging from simple mobile platforms and UAVs to advanced humanoid robots such as ASIMO and PR2, teleoperation is required in many different forms. The recent advances in virtual reality systems, interactive input controls and even haptic devices facilitate a wide range of new approaches to teleoperation control. This paper considers a dynamic user interface for improving the operator's ability to teleoperate heterogeneous robotic systems in dynamic and challenging environments. In order to achieve the proposed dynamic user interface the robot(s) comprising the heterogeneous robotic system and their active components need to be categorized. The recent uptake of ROS means that many robots are now represented within the standardized Unified Robot Descriptive Format (URDF), and this paper proposes a method for searching the URDF for active serial chains in individual robot systems. Results demonstrate the ability of the approach to determine active serial chains and associated kinematic information for the Baxter torso robot.

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“…Robots for security and intervention operations is a rapidly rising sector of robotics, which employ systems able to support first responders in search and rescue missions [1], [2]. Unfortunately, such robots have not yet been fully adopted by the international emergency response community [3], due to the fact that many technical and scientific challenges still exist in the area of incident response robots.…”

Section: Introductionmentioning

confidence: 99%

The AVERT project: Autonomous Vehicle Emergency Recovery Tool

Amanatiadis

Charalampous

Kostavelis

et al. 2013

2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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Terrorism threatens horrific loss of life, extensive disruption to city transport and damage to commercial real estate. Vehicles provide an ideal delivery mechanism because they can be meticulously prepared well in advance of deployment and then brought into the area of operations. Furthermore, a real and present danger comes from the threat of Chemical, Radiological, Biological and Nuclear (CRBN) contamination. Current methods of bomb disruption and neutralisation are hindered in the event that the device is shielded, blocked or for whatever reason cannot be accessed for examination. The Autonomous Vehicle Emergency Recovery Tool (AVERT) project introduces a unique capability to Police and Armed Services to rapidly deploy, extract and remove blocking vehicles from vulnerable positions such as enclosed infrastructure spaces, tunnels, low bridges as well as under-building and underground car parks. Within the AVERT project, vehicles can be removed from confined spaces with delicate handling, swiftly and in any direction to a safer disposal point to reduce or eliminate collateral damage to infrastructure and personnel. The overall system will be commanded remotely and shall operate autonomously under its own power and sensor awareness, as a critical tool alongside existing technologies, thereby enhancing bomb disposal response speed and safety.

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Methods and techniques for intelligent navigation and manipulation for bomb disposal and rescue operations

Cited by 19 publications

References 7 publications

Autonomous Vehicle Emergency Recovery Tool: A Cooperative Robotic System for Car Extraction

Autonomous Vehicle Emergency Recovery Tool: A Cooperative Robotic System for Car Extraction

Searching Baxter's URDF robot joint and link tree for active serial chains

The AVERT project: Autonomous Vehicle Emergency Recovery Tool

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