Recent developments in subterranean robotics

Morris, Aaron; Ferguson, Dave; Omohundro, Zachary; Bradley, David M.; Silver, David; Baker, Christopher; Thayer, Scott; Whittaker, Chuck; Whittaker, William

doi:10.1002/rob.20106

Cited by 60 publications

(48 citation statements)

References 13 publications

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“…Search and rescue robots are widely used in the coal mine disasters [24][25][26][27][28]. As the coal mine environment is filled with various combustible gases, and any small sparks can lead to a secondary explosion, so the explosion-proof design is a necessary feature for the robot.…”

Section: Coal Mine Rescue Robotmentioning

confidence: 99%

Robot Protection in the Hazardous Environments

Wang¹,

Gao²,

Zhao³

et al. 2017

Robots Operating in Hazardous Environments

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Rescue missions for chemical, biological, radiological, nuclear, and explosive (CBRNE) incidents are highly risky and sometimes it is impossible for rescuers to perform, while these accidents vary dramatically in features and protection requirements. The purpose of this chapter is to present several protection approaches for rescue robots in the hazardous conditions. And four types of rescue robots are presented, respectively. First, design factors and challenges of the rescue robots are analyzed and indicated for these accidents. Then the rescue robots with protective modification are presented, respectively, meeting individual hazardous requirements. And finally several tests are conducted to validate the effectiveness of these modified robots. It is clear that these well-designed robots can work efficiently for the CBRNE response activities.

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Section: Coal Mine Rescue Robotmentioning

confidence: 99%

Robot Protection in the Hazardous Environments

Wang¹,

Gao²,

Zhao³

et al. 2017

Robots Operating in Hazardous Environments

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“…Cave Crawler is an autonomous mobile robot that was designed to explore and map abandoned mines (Morris et al, 2006) (Figure 9). Cave Crawler uses a Crossbow 400 inertial measurement unit (IMU) and wheel odometry as position measurements, and the mapping sensors are forwardand backward-looking SICK LMS 200 laser range finders mounted on spinning jigs that rotate around the vehicle's forward-backward axis (roll).…”

Section: Cave Crawlermentioning

confidence: 99%

Segmented SLAM in three‐dimensional environments

Fairfield¹,

Wettergreen²,

Kantor³

2009

Journal of Field Robotics

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Simultaneous localization and mapping (SLAM) has been shown to be feasible in many small, two-dimensional, structured domains. The next challenge is to develop real-time SLAM methods that enable robots to explore large, three-dimensional, unstructured environments and allow subsequent operation in these environments over long periods of time. To circumvent the scale limitations inherent in SLAM, the world can be divided up into more manageable pieces. SLAM can be formulated on these pieces by using a combination of metric submaps and a topological map of the relationships between submaps. The contribution of this paper is a realtime, three-dimensional SLAM approach that combines an evidence grid-based volumetric submap representation, a robust Rao-Blackwellized particle filter, and a topologically flexible submap segmentation framework and map representation. We present heuristic methods for deciding how to segment the world and for reconstructing large-scale metric maps for the purpose of closing loops. We demonstrate our method on a mobile robotic platform operating in large, three-dimensional environments. C 2009 Wiley Periodicals, Inc.

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“…Currently, robotics has been successfully used in unsanitary and inhospitable environments exploration, such as: space (Katz & Some, 2003), volcanic (Muscato et al, 2003), submarine [Bingham et al, 2010), caves (Morris et al, 2006), etc. Other not less important use of robots is to substitute humans in risky situations that may affect their physical integrity, such as environment subject to chemical or nuclear exposure.…”

Section: Introductionmentioning

confidence: 99%

A Prototype of a Robotic Research Facility for Nuclear Applications

Silveira¹,

Pereira²,

Schirru³

2017

Projectus

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This work presents the development of the prototype of a robotic nuclear monitoring facility aimed to support technological and scientific research. It is a terrestrial robot in which nuclear and conventional instrumentation are available and easy-to-use through a user-friendly library for Python programming. The facility may be teleoperated (by mobile devices, notebook or desktop) or operate in autonomous mode, in which a user-defined program run on robot CPU.

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Recent developments in subterranean robotics

Cited by 60 publications

References 13 publications

Robot Protection in the Hazardous Environments

Robot Protection in the Hazardous Environments

Segmented SLAM in three‐dimensional environments

A Prototype of a Robotic Research Facility for Nuclear Applications

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