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Contribution Details

Type Conference or Workshop Paper
Scope Discipline-based scholarship
Published in Proceedings Yes
Title Aerial-guided navigation of a ground robot among movable obstacles
Organization Unit
Authors
  • Elias Müggler
  • Matthias Fässler
  • Flavio Fontana
  • Davide Scaramuzza
Presentation Type paper
Item Subtype Original Work
Refereed Yes
Status Published in final form
Language
  • English
Page Range 1 - 8
Event Title IEEE Intl. Symp. on Safety, Security, and Rescue Robotics (SSRR)
Event Type conference
Event Location Toyaco-cho Cultural Center, Toyako-cho, Hokkaido, Japan
Event Start Date October 27 - 2014
Event End Date October 30 - 2014
Place of Publication Toyaco-cho Cultural Center, Toyako-cho, Hokkaido, Japan
Abstract Text We demonstrate the fully autonomous collaboration of an aerial and a ground robot in a mock-up disaster scenario. Within this collaboration, we make use of the individual capabilities and strengths of both robots. The aerial robot first maps an area of interest, then it computes the fastest mission for the ground robot to reach a spotted victim and deliver a first-aid kit. Such a mission includes driving and removing obstacles in the way while being constantly monitored and commanded by the aerial robot. Our mission-planning algorithm distinguishes between movable and fixed obstacles and considers both the time for driving and removing obstacles. The entire mission is executed without any human interaction once the aerial robot is launched and requires a minimal amount of communication between the robots. We describe both the hardware and software of our system and detail our mission-planning algorithm. We present exhaustive results of both simulation and real experiments. Our system was successfully demonstrated more than 20 times at a trade fair.
Digital Object Identifier 10.1109/SSRR.2014.7017662
Other Identification Number merlin-id:10198
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