Search and Retrieval of Human Casualties in Outdoor Environments with Unmanned Ground Systems—System Overview and Lessons Learned from ELROB 2014
详细信息 查看全文
- 刊名：Springer Tracts in Advanced Robotics
- 出版年：2016
- 出版时间：2016
- 年：2016
- 卷：113
- 期：1
- 页码：533-546
- 全文大小：446 KB
- 参考文献：1.Anderson, J., Baltes, J., Tu, K.Y.: Improving robotics competitions for real-world evaluation of AI. In: AAAI Spring Symposium: Experimental Design for Real-World Systems, pp. 1–8 (2009)
2.Behnke, S.: Robot competitions-ideal benchmarks for robotics research. In: Proceedings of IROS-2006 Workshop on Benchmarks in Robotics Research (2006)
3.Brüggemann, B., Gaspers, B., Ciossek, A., Pellenz, J., Kroll, N.: Comparison of different control methods for mobile manipulation using standardized tests. In: 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 1–2. IEEE (2013)
4.De Cubber, G., Doroftei, D., Serrano, D., Chintamani, K., Sabino, R., Ourevitch, S.: The EU-ICARUS project: developing assistive robotic tools for search and rescue operations. In: Safety, Security, and Rescue Robotics, pp. 1–4. IEEE (2013)
5.del Pobil A.P.: Why do we need benchmarks in robotics research. In: International Conference on Intelligent Robot and Systems, Beijing, China (2006)
6.Gilbert, G., Turner, T., Marchessault, R.: Army Medical Robotics Research, Army Telemedicine and Advanced Technology Research Center (TATRC) project report, Fort Detrick, MD (2007)
7.Hoffmann, J., Brüggemann, B., Krüger, B.: Automatic calibration of a motion capture system based on inertial sensors for tele-manipulation. In: ICINCO, vol. 2, pp. 121–128 (2010)
8.Humphrey, C.M., Adams, J.A.: Robotic tasks for chemical, biological, radiological, nuclear and explosive incident response. Adv. Robot. 23(9), 1217–1232 (2009)CrossRef
9.Iwano, Y., Osuka, K., Amano, H.: Development of rescue support stretcher system with stair-climbing. In: 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 245–250. IEEE (2011)
10.Iwano, Y., Osuka, K., Amano, H.: Posture manipulation for rescue activity via small traction robots. In: Safety, Security and Rescue Robotics, Workshop, 2005 IEEE International, pp. 87–92. IEEE (2005)
11.Jacoff, A., Messina, E., Evans, J.: A standard test course for urban search and rescue robots. NIST SPECIAL PUBLICATION SP, 253–259 (2001)
12.Kim, Y.D., Kim, Y.G., Lee, S.H., Kang, J.H., An, J.: Portable fire evacuation guide robot system. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009, pp. 2789–2794. IEEE (2009)
13.Murphy, R.R., Riddle, D., Rasmussen, E.: Robot-assisted medical reachback: a survey of how medical personnel expect to interact with rescue robots. In: 13th IEEE International Workshop on Robot and Human Interactive Communication, 2004. ROMAN 2004, pp. 301–306. IEEE (2004)
14.ROS packages for multimaster support (discovering, synchronizing and management GUI). http://fkie.github.io/multimaster_fkie/
15.Schneider, F.E., Wildermuth, D.: Aims and Outcome of Professional Ground Robotic Competitions: A Systematic Comparison. In: Proceedings of the 3rd NATO EOD Demonstrations and Trials Workshop "New technologies assistance and limitations of the EOD in post-ISAF era", Trencin (2014)
16.Schneider, F.E., Wildermuth, D., Brüggemann, B., Röhling, T.: European Land Robot Trial (ELROB) Towards a Realistic Benchmark for Outdoor Robotics (2010)
17.The DARPA Robotics Challenge (DRC), official website. http://www.theroboticschallenge.org
18.Winfield, A.F., Franco, M.P., Brüggemann, B., Castro, A., Djapic, V., Ferri, G., Viguria, A.: euRathlon Outdoor Robotics Challenge: Year 1 Report. In: Advances in Autonomous Robotics Systems: 15th Annual Conference, TAROS 2014, Birmingham, UK, September 1–3, 2014. Proceedings, vol. 8717, p. 267. Springer (2014)
19.Yim, M., Laucharoen, J., Yim, M., Laucharoen, J.: Towards small robot aided victim manipulation. J. Intell. Robot. Syst. 64(1), 119–139 (2011)CrossRef - 作者单位：Bernd Brüggemann (5)
Dennis Wildermuth (5)
Frank E. Schneider (5)
5. Fraunhofer FKIE, Fraunhoferstr. 20, Wachtberg, 53343, Germany - 丛书名：Field and Service Robotics
- ISBN：978-3-319-27702-8
- 刊物类别：Engineering
- 刊物主题：Automation and Robotics
Control Engineering - 出版者：Springer Berlin / Heidelberg
- ISSN：1610-742X
文摘
The European Land Robot Trail (ELROB) is a robot competition running for nearly 10 years now. Its focus changes between military and civilian applications every other year. Although the ELROB is now one of the most established competition events in Europe, there have been changes in the tasks over the years. In 2014, for the first time, a search and rescue scenario was provided. This paper addresses this Medical Evacuation (MedEvac) scenario and describes our system design to approach the challenge, especially our innovative control mechanism for the manipulator. Comparing our solution with the other teams’ approaches we will show advantages which, finally, enabled us to achieve the first place in this trial.