Nested marsupial robotic system for search and sampling in increasingly constrained environments

Moore, J. Russell; Wolfe, Kevin; Johannes, Matthew S.; Katyal, Kapil D.; Para, Matthew P.; Murphy, Ryan J.; Hatch, Jessica M.; Taylor, C J; Bamberger, Robert J.; Tunstel, Edward

doi:10.1109/smc.2016.7844578

Cited by 18 publications

(13 citation statements)

References 11 publications

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“…The work in [11] presents the use of a marsupial system consisting of an unmanned surface vehicle (USV) and an unmanned aerial vehicle (UAV) in the inspecting of freshwater ecosystems, combining the advantages of the long operation time of the USV and the increased field of view provided by the UAV. Additionally, marsupial systems with aerial and ground robots are utilized in the context of planetary exploration [12] and disaster response tasks [13]. Other works in the domain of marsupial robotic systems' deployment aim to determine the deployment and possible retrieval time for the marsupial system.…”

Section: Related Workmentioning

confidence: 99%

Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments

Petris¹,

Khattak²,

Dharmadhikari³

et al. 2022

Preprint

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This work contributes a marsupial robotic systemof-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability to selectively deploy the aerial system from the ground robot. Exploiting the dexterous locomotion capabilities and long endurance of quadruped robots, the marsupial combination can explore within large-scale and confined environments involving rough terrain. However, as certain types of terrain or vertical geometries can render any ground system unable to continue its exploration, the marsupial system can -when needed-deploy the flying robot which, by exploiting its 3D navigation capabilities, can undertake a focused exploration task within its endurance limitations. Focusing on autonomy, the two systems can co-localize and map together by sharing LiDAR-based maps and plan exploration paths individually, while a tailored graph search onboard the legged robot allows it to identify where and when the ferried aerial platform should be deployed. The system is verified within multiple experimental studies demonstrating the expanded exploration capabilities of the marsupial system-of-systems and facilitating the exploration of otherwise individually unreachable areas.

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Section: Related Workmentioning

confidence: 99%

Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments

Petris¹,

Khattak²,

Dharmadhikari³

et al. 2022

Preprint

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“…In general, workstations can process and display large amounts of data and complex mixed visualizations [41]- [43]; however, one constraint of workstations is providing an adequate 2-D representation of the manipulator and robot that exist in a 3-D remote environment. Adequate 2-D representations are normally attempted through visualizations such as video streams [44], [45], stereo vision [46], [47], or mixed reality (MR) displays [6], [48]. Additionally, high-level directives can be issued from a computer workstation to facilitate human-delegated or humansupervised operation.…”

Section: Computer Worktationsmentioning

confidence: 99%

Review of Human–Machine Interfaces for Small Unmanned Systems With Robotic Manipulators

Young

Peschel

2020

IEEE Trans. Human-Mach. Syst.

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This article reviews the human-machine interaction (HMI) technologies used for telemanipulation by small unmanned systems (SUS) with remote manipulators. SUS, including land, air, and sea vehicles, can perform a wide range of reconnaissance and manipulation tasks with varying levels of autonomy. SUS operations involving physical interactions with the environment require some level of operator involvement, ranging from direct control to goal-oriented supervision. Telemanipulation remains a challenging task for all levels of human interaction because the operator and the vehicle are not colocated, and operators require HMI technologies that facilitate manipulation from a remote location. This article surveys the human operator interfacing for over 70 teleoperated systems, summarizes the effects of physical and visual interface factors on user performance, and discusses these findings in the context of telemanipulating SUS. This article is of importance to SUS researchers and practitioners who will directly benefit from HMI implementations that improve telemanipulation performance.

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“…Robots Operadores Interfaz (Menda et al, 2011) 1 RA (Sim) 1 Inmersiva (Haas et al, 2011) 40 RA (Sim) 1 Multimodal (Kolling et al, 2012) 200 RT (Sim) 1 Convencional (Flushing et al, 2012) 250 RA (Sim) N Adaptativa (Cummings et al, 2013) 4 RA (Sim) 1 Convencional (Frische et al, 2013) 3 RA (Sim) 1 Adaptativa (Fuchs et al, 2014) 4 RA (Sim) 1 Convencional (Martins et al, 2015) 1 RT (Real) 1 Inmersiva (Ruiz et al, 2015) 3 RA (Sim) 1 Inmersiva (García et al, 2015) 1 RS (Sim) 1 Multimodal + Inmersiva (Peppoloni et al, 2015) 1 RM (Real) 1 Multimodal + Inmersiva (Hagiwara, 2015) 1 RT-Man (Sim) 1 Multimodal + Inmersiva (Soares et al, 2015) 1 RT-Man (Real) 1 Inmersiva (Recchiuto et al, 2016) 10 RA (Sim) 1 Inmersiva (Moore et al, 2016) 2 RT y 1 RA (Real) 1 Convencional (Yew et al, 2017) 1 RM (Real) 1 Inmersiva (Ruano et al, 2017) 1 RA (Sim) 1 Inmersiva (Almeida et al, 2017) 1 RT (Real) 1 Multimodal + Inmersiva (Roldán et al, 2017) 2 RA (Real) 1 Mult. + Inmer.…”

Section: Referenciamentioning

confidence: 99%

Una revisión de los sistemas multi-robot: desafíos actuales para los operadores y nuevos desarrollos de interfaces

Roldán‐Gómez

Rivas

Garcia-Aunon

et al. 2020

Rev. iberoam. autom. inform. ind.

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<p class="icsmabstract">Los sistemas multi-robot están experimentando un gran desarrollo en los últimos tiempos, ya que mejoran el rendimiento de las misiones actuales y permiten realizar nuevos tipos de misiones. Este artículo analiza el estado del arte de los sistemas multi-robot, abordando un conjunto de temas relevantes: misiones, flotas, operadores, interacción humano-sistema e interfaces. La revisión se centra en los retos relacionados con factores humanos como la carga de trabajo o la conciencia de la situación, así como en las propuestas de interfaces adaptativas e inmersivas para solucionarlos.</p>

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Nested marsupial robotic system for search and sampling in increasingly constrained environments

Cited by 18 publications

References 11 publications

Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments

Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments

Review of Human–Machine Interfaces for Small Unmanned Systems With Robotic Manipulators

Una revisión de los sistemas multi-robot: desafíos actuales para los operadores y nuevos desarrollos de interfaces

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