Mobility and sensing demands in USAR

Murphy, Robin R.; Casper, Jennifer; Hyams, Jeff; Micire, Mark; Minten, Brian W.

doi:10.1109/iecon.2000.973139

Cited by 48 publications

(28 citation statements)

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“…by selecting a small amount of interesting sections from the image. Instead of a random selection of Regions Of Interest (ROI) as proposed by Davision et al [30], our approach is inspired by the biological process of searching for an object in a visual scene from humans [31,32]. in more than 80% of the images is the quadkopter the most attentive object.…”

Section: First Resultsmentioning

confidence: 99%

“…It is needed e.g. for navigation and finding victims [11,[29][30][31]. As a result the camera view is displayed in the middle of the cell phone screen.…”

Section: First Resultsmentioning

confidence: 99%

“…The vision systems deliver an overview of the scene which supports the operators impression of the whole scenery and provides visual information for controlling and steering the semi-autonomous robot. Another crucial task comprises finding victims and inspection of buildings or cluttered terrain for revealing structural damages or hazardous areas [30]. Therefore the UGV is equipped with one of the following panoramic camera systems: (A) One camera aiming towards a hyperbolic mirror which enables a hemispherical but distorted view (see Fig.…”

Section: First Resultsmentioning

confidence: 99%

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Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles

Surmann

Holz²,

Blumental³

et al. 2008

Int. J. Onl. Eng.

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Abstract-This paper introduces our robotic system named UGAV (Unmanned Ground-Air Vehicle) consisting of two semi-autonomous robot platforms, an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicles (UAV). The paper focuses on three topics of the inspection with the combined UGV and UAV: (A) teleoperated control by means of cell or smart phones with a new concept of automatic configuration of the smart phone based on a RKI-XML description of the vehicles control capabilities, (B) the camera and vision system with the focus to real time feature extraction e.g. for the tracking of the UAV and (C) the architecture and hardware of the UAV.

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Section: First Resultsmentioning

confidence: 99%

“…It is needed e.g. for navigation and finding victims [11,[29][30][31]. As a result the camera view is displayed in the middle of the cell phone screen.…”

Section: First Resultsmentioning

confidence: 99%

Section: First Resultsmentioning

confidence: 99%

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Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles

Surmann

Holz²,

Blumental³

et al. 2008

Int. J. Onl. Eng.

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“…According to Murphy et al [2000a], rescuers identify the availability of different robot physiologies as an important consideration when operating in a USAR domain. Wheeled robots are able to search open areas quickly, while tracked robots such as the iRobot PackBot are advantageous for climbing stairs and over areas of light debris [Yamauchi, 2004].…”

Section: Motivationmentioning

confidence: 99%

“…I evaluate my work using a simulated USAR environment in which robotic agents must coordinate in order to locate victims while generating a map of the disaster zone. Murphy et al [2000a] describe the mobility and sensory difficulties present in such an environment. Debris and uneven terrain can make it difficult for a robot to navigate, and can cause a robot to become stuck.…”

Section: Urban Search and Rescuementioning

confidence: 99%

Dynamic heterogeneous team formation for robotic urban search and rescue

Gunn

Anderson

2015

Journal of Computer and System Sciences

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Using teams of robots to complete a task provides a number of advantages over the use of a single robot. Multiple robots are able to complete tasks faster, and provide redundancy in case of equipment failure or loss. Teams of robots with different capabilities and physiologies are beneficial because they allow a team to provide a high level of overall functionality while striking a balance between the cost and complexity of the robots. Previous work tends to focus on the use of pre-formed teams of robots, with little attention to the formation and maintenance of the team itself. An environment such as a disaster zone presents numerous challenges to robotic operation, and it can be expected that the nature of a team will change due to, for example, malfunctions and the introduction of replacement equipment. I developed a framework to support the maintenance of teams of heterogeneous robots operating in complex and dynamic environments such as disaster zones. Given an established team, my work also facilitates the discovery of work to be done during the team's mission and its subsequent assignment to members of the team in a distributed fashion. I evaluated my framework through the development of an example implementation where robots perform exploration in order to locate victims in a simulated disaster environment.ii

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The Integration of a Multimodal MAV and Biomimetic Sensing for Autonomous Flights in Near-Earth Environments

Green

Advances in Unmanned Aerial Vehicles

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Mobility and sensing demands in USAR

Cited by 48 publications

References 0 publications

Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles

Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles

Dynamic heterogeneous team formation for robotic urban search and rescue

The Integration of a Multimodal MAV and Biomimetic Sensing for Autonomous Flights in Near-Earth Environments

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