Robotic Urban Search and Rescue: A Survey from the Control Perspective

Liu, Yugang; Nejat, Goldie

doi:10.1007/s10846-013-9822-x

Cited by 221 publications

(98 citation statements)

References 43 publications

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“…An increase of robot autonomy belongs to the challenges of contemporary search and rescue robotics [1]. In response to this challenge the Polish National Centre for Research and Development has launched the project RobREx focused on improving autonomy of the rescue and exploration robots.…”

Section: Introductionmentioning

confidence: 99%

Modeling and control of a skid-steering mobile platform with coupled side wheels

Tchoń¹,

Zadarnowska²,

Juszkiewicz³

et al. 2015

Bulletin of the Polish Academy of Sciences Technical Sciences

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Abstract. This study is devoted to the modeling and control of a 4-wheel, skid-steering mobile platform with coupled side wheels, subject to lateral and longitudinal slips. The dynamics equations of the platform are derived, and 16 variants of motion distinguished. For the variant of motion allowing for all possible slips of the wheels two control problems are addressed: the motion planning problem and the trajectory tracking problem. The former problem is solved by means of a Jacobian motion planning algorithm based on the Endogenous Configuration Space Approach and, complementarily, using the Optimal Control Approach. The Nonlinear Model Predictive Control is applied to the latter problem. Performance of these control algorithms is illustrated by a sort of the parking problem. Significant robustness of the predictive control algorithm against the model uncertainty is revealed.

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Section: Introductionmentioning

confidence: 99%

Modeling and control of a skid-steering mobile platform with coupled side wheels

Tchoń¹,

Zadarnowska²,

Juszkiewicz³

et al. 2015

Bulletin of the Polish Academy of Sciences Technical Sciences

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“…Since the estimate of the bearing is the measurement itself, in the following we will show the results related to the estimation of χ. The master is a phantom omni by Geomagic 3 and it has been precompensated as indicated in Sec. IV with ρ = 1 λ = 0.001.…”

Section: Methodsmentioning

confidence: 99%

“…One application that has been subject to particular interest in this field is that of human guided navigation for search and rescue or exploration tasks [3]. A robotic platform that has proven to be particularly effective in this context is the quadrotor.…”

Section: Introductionmentioning

confidence: 99%

An assisted bilateral control strategy for 3D pose estimation of visual features

Battilani

Spica

Giordano

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Teleoperating a quadrotor equipped with a monocular camera for exploring a wide area in search of something has become a common practice in many application scenarios (e.g. search and rescue). In order to efficiently plan operations, estimating the 3D pose of a point of interest is as important as detecting it. In this paper we propose a novel bilateral teleoperation architecture where an estimation scheme is exploited for recovering the position of a set of visual features while an operator steers the motion of the quadrotor UAV. The operator acts on a force-feedback master device that produces force cues meant to suggest where to drive the quadrotor for improving the convergence rate of the estimation process. The effectiveness of the proposed teleoperation strategy is validated by means of hardware in the loop simulations.

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“…The concept of TERRA-MEPP was inspired by previous models of small, tactical ground robots successfully deployed in terrain mapping (Pellenz et al 2010), search and rescue (Carlson and Murphy 2005;Liu and Nejat 2013) and military applications (Carlson and Murphy 2005;Liu and Nejat 2013). The configuration of the platform, including the mast, body, tracks and GPS is displayed in Fig.…”

Section: Platform Designmentioning

confidence: 99%

Design and field evaluation of a ground robot for high-throughput phenotyping of energy sorghum

2018

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This article describes the design and field evaluation of a low-cost, high-throughput phenotyping robot for energy sorghum for use in biofuel production. High-throughput phenotyping approaches have been used in isolated growth chambers or greenhouses, but there is a growing need for field-based, precision agriculture techniques to measure large quantities of plants at high spatial and temporal resolutions throughout a growing season. A lowcost, tracked mobile robot was developed to collect phenotypic data for individual plants and tested on two separate energy sorghum fields in Central Illinois during summer 2016. Stereo imaging techniques determined plant height, and a depth sensor measured stem width near the base of the plant. A data capture rate of 0.4 ha, bi-weekly, was demonstrated for platform robustness consistent with various environmental conditions and crop yield modeling needs, and formative human-robot interaction observations were made during the field trials to address usability. This work is of interest to researchers and practitioners advancing the field of plant breeding because it demonstrates a new phenotyping platform that can measure individual plant architecture traits accurately (absolute measurement error at 15% for plant height and 13% for stem width) over large areas at a sub-daily frequency; furthermore, the design of this platform can be extended for phenotyping applications in maize or other agricultural row crops.

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Robotic Urban Search and Rescue: A Survey from the Control Perspective

Cited by 221 publications

References 43 publications

Modeling and control of a skid-steering mobile platform with coupled side wheels

Modeling and control of a skid-steering mobile platform with coupled side wheels

An assisted bilateral control strategy for 3D pose estimation of visual features

Design and field evaluation of a ground robot for high-throughput phenotyping of energy sorghum

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