Pub Date : 2010-07-26DOI: 10.1109/SSRR.2010.5981559
Haruo Maruyama, Kazuyuki Ito
Recently, applications of snake-like robots for search and rescue have attracted considerable attentions. However, they have a problem in operability, because many degrees of freedom of their bodies cause complexity of operation. In our previous works, we addressed this problem and developed a prototype snake-like robot that can be controlled easily by a user interface of usual automobile. In this paper, we improve our previous robot for searching in wide-range area like a whole building. To realize our goal, we consider 3 requirements which are Self-contained mechanism, High-mobility, and Semi-autonomy. To demonstrate effectiveness of our proposed mechanism, new snake-like robot is developed and experiments are conducted. As the results, we confirm that proposed robot realize the three requirements and has higher mobility than conventional robots.
{"title":"Semi-autonomous snake-like robot for search and rescue","authors":"Haruo Maruyama, Kazuyuki Ito","doi":"10.1109/SSRR.2010.5981559","DOIUrl":"https://doi.org/10.1109/SSRR.2010.5981559","url":null,"abstract":"Recently, applications of snake-like robots for search and rescue have attracted considerable attentions. However, they have a problem in operability, because many degrees of freedom of their bodies cause complexity of operation. In our previous works, we addressed this problem and developed a prototype snake-like robot that can be controlled easily by a user interface of usual automobile. In this paper, we improve our previous robot for searching in wide-range area like a whole building. To realize our goal, we consider 3 requirements which are Self-contained mechanism, High-mobility, and Semi-autonomy. To demonstrate effectiveness of our proposed mechanism, new snake-like robot is developed and experiments are conducted. As the results, we confirm that proposed robot realize the three requirements and has higher mobility than conventional robots.","PeriodicalId":371261,"journal":{"name":"2010 IEEE Safety Security and Rescue Robotics","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123712515","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-26DOI: 10.1109/SSRR.2010.5981557
A. Renzaglia, Agostino Martinelli
In this paper we introduce a new distributed algorithm for the exploration of an unknown environment with a team of mobile robots. The objective is to explore the whole environment as fastest as possible. The proposed approach is based on the potential field method. The advantages of using this method are several and well known, but the presence of many local minima does not assure the exploration of the entire environment. Our idea is to preserve these advantages but overcome the problem of local minima by introducing a leader in the team which has a different control law, unaffected by this problem. Furthermore, we consider also the case of several local leaders, dynamically selected on the basis of a hierarchy within the team. Extensive simulations are presented to evaluate the performance of the algorithm. In particular, the results are compared with the exploration obtained by a potential field approach without leaders.
{"title":"Potential field based approach for coordinate exploration with a multi-robot team","authors":"A. Renzaglia, Agostino Martinelli","doi":"10.1109/SSRR.2010.5981557","DOIUrl":"https://doi.org/10.1109/SSRR.2010.5981557","url":null,"abstract":"In this paper we introduce a new distributed algorithm for the exploration of an unknown environment with a team of mobile robots. The objective is to explore the whole environment as fastest as possible. The proposed approach is based on the potential field method. The advantages of using this method are several and well known, but the presence of many local minima does not assure the exploration of the entire environment. Our idea is to preserve these advantages but overcome the problem of local minima by introducing a leader in the team which has a different control law, unaffected by this problem. Furthermore, we consider also the case of several local leaders, dynamically selected on the basis of a hierarchy within the team. Extensive simulations are presented to evaluate the performance of the algorithm. In particular, the results are compared with the exploration obtained by a potential field approach without leaders.","PeriodicalId":371261,"journal":{"name":"2010 IEEE Safety Security and Rescue Robotics","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134073005","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-26DOI: 10.1109/SSRR.2010.5981561
Martin Gerdzhev, Jimmy Tran, A. Ferworn, D. Ostrom
This paper presents the work on Drop and EXplore (DEX), a small rescue robot to be used in Urban Search and Rescue (USAR) operations. Unlike other rescue robots, DEX was designed to be used in tandem with trained USAR canines. The development of DEX was part of a new concept called Canine Assisted Robot Deployment (CARD). CARD utilizes search canines to deliver robots close to the casualties trapped under rubble. A small robot is attached to a search dog. After the dog uses its agility and sense of smell to find a casualty, the robot is deployed when the dog gives its bark indication. This method circumvents the current problems of response robots, their inability to traverse rubble. As DEX was constructed in order to test the concept of CARD, its designs are described in this paper along with the experiments conducted.
本文介绍了一种用于城市搜救(USAR)行动的小型救援机器人Drop and EXplore (DEX)的工作。与其他救援机器人不同，DEX被设计成与训练有素的USAR犬一起使用。DEX的开发是犬类辅助机器人部署(CARD)新概念的一部分。CARD利用搜救犬将机器人送到被困在废墟下的伤员附近。一个小机器人被拴在一只搜索犬身上。在狗狗用它的敏捷性和嗅觉找到伤员后，当狗狗发出吠叫指示时，机器人就会被部署。这种方法规避了目前反应机器人无法穿越碎石的问题。由于DEX是为了测试CARD的概念而构建的，因此本文描述了DEX的设计以及所进行的实验。
{"title":"DEX - A design for Canine-Delivered Marsupial Robot","authors":"Martin Gerdzhev, Jimmy Tran, A. Ferworn, D. Ostrom","doi":"10.1109/SSRR.2010.5981561","DOIUrl":"https://doi.org/10.1109/SSRR.2010.5981561","url":null,"abstract":"This paper presents the work on Drop and EXplore (DEX), a small rescue robot to be used in Urban Search and Rescue (USAR) operations. Unlike other rescue robots, DEX was designed to be used in tandem with trained USAR canines. The development of DEX was part of a new concept called Canine Assisted Robot Deployment (CARD). CARD utilizes search canines to deliver robots close to the casualties trapped under rubble. A small robot is attached to a search dog. After the dog uses its agility and sense of smell to find a casualty, the robot is deployed when the dog gives its bark indication. This method circumvents the current problems of response robots, their inability to traverse rubble. As DEX was constructed in order to test the concept of CARD, its designs are described in this paper along with the experiments conducted.","PeriodicalId":371261,"journal":{"name":"2010 IEEE Safety Security and Rescue Robotics","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122031465","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-26DOI: 10.1109/SSRR.2010.5981573
Julian de Hoog, S. Cameron, Arnoud Visser
In the near future, groups of autonomous robots using wireless communication will be used for a wide variety of tasks. In many such applications, communication may be unreliable and communication ranges difficult to predict. While most current approaches to this problem strive to keep team members within range of one another, we propose an approach in which navigation and exploration beyond range limits is explicitly planned for. Robots may either explore or relay known information, and the team hierarchy corresponds to a tree. As the exploration effort unfolds, robots swap roles within this tree to improve the efficiency of exploration. Since robots reactively adjust to communication availability, the resulting behaviour is robust to limited communication. This makes it particularly suitable for applications such as robotic search and rescue, where environments are likely to contain significant interference and unexpected communication ranges.
{"title":"Dynamic team hierarchies in communication-limited multi-robot exploration","authors":"Julian de Hoog, S. Cameron, Arnoud Visser","doi":"10.1109/SSRR.2010.5981573","DOIUrl":"https://doi.org/10.1109/SSRR.2010.5981573","url":null,"abstract":"In the near future, groups of autonomous robots using wireless communication will be used for a wide variety of tasks. In many such applications, communication may be unreliable and communication ranges difficult to predict. While most current approaches to this problem strive to keep team members within range of one another, we propose an approach in which navigation and exploration beyond range limits is explicitly planned for. Robots may either explore or relay known information, and the team hierarchy corresponds to a tree. As the exploration effort unfolds, robots swap roles within this tree to improve the efficiency of exploration. Since robots reactively adjust to communication availability, the resulting behaviour is robust to limited communication. This makes it particularly suitable for applications such as robotic search and rescue, where environments are likely to contain significant interference and unexpected communication ranges.","PeriodicalId":371261,"journal":{"name":"2010 IEEE Safety Security and Rescue Robotics","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130234664","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-26DOI: 10.1109/SSRR.2010.5981556
Y. Iwano, K. Osuka, H. Amano
A sarin gas incident occurred in the Tokyo subway system on March 20, 1995. This fatal gas attack caused sicknesses to many passengers. Since the disaster broke out under the ground, the main job of rescue personnel was to transport victims on stretchers to a first-aid station on the ground. So, we research and development the rescue support stretcher system (robot) for a heavy casualty disaster in underground areas or at stations can be handled in a quick, effective manner. The stretcher robot is expected to help firefighters achieve efficient rescue operations. In this paper, we describe the produced stretcher robot. And, we evaluate that stretcher robot can transfer a victims by the experiment.
{"title":"Development of rescue support stretcher system","authors":"Y. Iwano, K. Osuka, H. Amano","doi":"10.1109/SSRR.2010.5981556","DOIUrl":"https://doi.org/10.1109/SSRR.2010.5981556","url":null,"abstract":"A sarin gas incident occurred in the Tokyo subway system on March 20, 1995. This fatal gas attack caused sicknesses to many passengers. Since the disaster broke out under the ground, the main job of rescue personnel was to transport victims on stretchers to a first-aid station on the ground. So, we research and development the rescue support stretcher system (robot) for a heavy casualty disaster in underground areas or at stations can be handled in a quick, effective manner. The stretcher robot is expected to help firefighters achieve efficient rescue operations. In this paper, we describe the produced stretcher robot. And, we evaluate that stretcher robot can transfer a victims by the experiment.","PeriodicalId":371261,"journal":{"name":"2010 IEEE Safety Security and Rescue Robotics","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127396696","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-26DOI: 10.1109/SSRR.2010.5981564
Jimmy Tran, A. Ferworn, Martin Gerdzhev, D. Ostrom
In Urban Search and Rescue (USAR) operations the search for survivors must occur before rescue operations can proceed. Two methods that can be used to search in rubble are trained search dogs and specialized response robots (sometimes called rescue robots). Rescue robots are used to collect information about trapped people within a disaster like a collapsed building. Information from them can help first responders plan and execute a rescue effort. The main challenge for these robots is the restrictions placed on their mobility by challenging rubble surfaces. While current research in this area attacks this challenge through mechanical design, good solutions remain elusive. This paper presents a new method for dispersing response robots called Canine Assisted Robot Deployment (CARD). CARD's approach utilizes USAR dogs to deliver robots close to a trapped human detected by the dog. This method exploits the canine ability to find survivors using their olfactory sensors and agility. Once a dog carrying a small robot has found a casualty, the robot can be dropped and begin exploring. Initial experiments and results are described in this paper.
{"title":"Canine Assisted Robot Deployment for Urban Search and Rescue","authors":"Jimmy Tran, A. Ferworn, Martin Gerdzhev, D. Ostrom","doi":"10.1109/SSRR.2010.5981564","DOIUrl":"https://doi.org/10.1109/SSRR.2010.5981564","url":null,"abstract":"In Urban Search and Rescue (USAR) operations the search for survivors must occur before rescue operations can proceed. Two methods that can be used to search in rubble are trained search dogs and specialized response robots (sometimes called rescue robots). Rescue robots are used to collect information about trapped people within a disaster like a collapsed building. Information from them can help first responders plan and execute a rescue effort. The main challenge for these robots is the restrictions placed on their mobility by challenging rubble surfaces. While current research in this area attacks this challenge through mechanical design, good solutions remain elusive. This paper presents a new method for dispersing response robots called Canine Assisted Robot Deployment (CARD). CARD's approach utilizes USAR dogs to deliver robots close to a trapped human detected by the dog. This method exploits the canine ability to find survivors using their olfactory sensors and agility. Once a dog carrying a small robot has found a casualty, the robot can be dropped and begin exploring. Initial experiments and results are described in this paper.","PeriodicalId":371261,"journal":{"name":"2010 IEEE Safety Security and Rescue Robotics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132121517","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-26DOI: 10.1109/SSRR.2010.5981554
A. Laika, Johny Paul, Christopher Claus, W. Stechele, Adam El Sayed Auf, E. Maehle
In a rescue operation walking robots offer a great deal of flexibility in traversing uneven terrain in an uncontrolled environment. For such a rescue robot each motion is a potential vital sign but the existing techniques for motion detection have severe limitations in dealing with strong levels of ego-motion on walking robots. This paper proposes an optical flow based method for the detection of moving objects using a single camera mounted on a hexapod robot for an application in a rescue scenario. The proposed algorithm estimates and compensates ego-motion to allow for object detection while the robot is moving. Our algorithm can deal with strong rotation and translation in 3D, using a first-order-flow motion model, with four degrees of freedom. Two alternative object detection methods using a 2D-histogram based vector clustering and motion compensated frame differencing respectively are examined for the detection of slow and fast moving objects. In addition to a software implementation, the system was implemented on an FPGA, enabling processing in real-time at 31 fps.
{"title":"FPGA-based real-time moving object detection for walking robots","authors":"A. Laika, Johny Paul, Christopher Claus, W. Stechele, Adam El Sayed Auf, E. Maehle","doi":"10.1109/SSRR.2010.5981554","DOIUrl":"https://doi.org/10.1109/SSRR.2010.5981554","url":null,"abstract":"In a rescue operation walking robots offer a great deal of flexibility in traversing uneven terrain in an uncontrolled environment. For such a rescue robot each motion is a potential vital sign but the existing techniques for motion detection have severe limitations in dealing with strong levels of ego-motion on walking robots. This paper proposes an optical flow based method for the detection of moving objects using a single camera mounted on a hexapod robot for an application in a rescue scenario. The proposed algorithm estimates and compensates ego-motion to allow for object detection while the robot is moving. Our algorithm can deal with strong rotation and translation in 3D, using a first-order-flow motion model, with four degrees of freedom. Two alternative object detection methods using a 2D-histogram based vector clustering and motion compensated frame differencing respectively are examined for the detection of slow and fast moving objects. In addition to a software implementation, the system was implemented on an FPGA, enabling processing in real-time at 31 fps.","PeriodicalId":371261,"journal":{"name":"2010 IEEE Safety Security and Rescue Robotics","volume":"469 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114993396","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-26DOI: 10.1109/SSRR.2010.5981565
I. Maza, F. Caballero, J. Capitán, J. R. Martinez-de-Dios, A. Ollero
This paper describes a multi-UAV firemen monitoring mission carried out in the framework of the AWARE Project. Several firemen were located in an area in front of a simulated building assisting injured people and moving equipment. The objective of the user was to have an estimation of the location of the firemen on the map and also images of their operations. Two autonomous helicopters were available and ready on the landing pads for this mission. The techniques adopted to compute the required waypoints for the observation of the firemen from the UAVs are described in the paper. The detailed description of a firemen monitoring mission used to validate the approach is also provided.
{"title":"Firemen monitoring with multiple UAVs for search and rescue missions","authors":"I. Maza, F. Caballero, J. Capitán, J. R. Martinez-de-Dios, A. Ollero","doi":"10.1109/SSRR.2010.5981565","DOIUrl":"https://doi.org/10.1109/SSRR.2010.5981565","url":null,"abstract":"This paper describes a multi-UAV firemen monitoring mission carried out in the framework of the AWARE Project. Several firemen were located in an area in front of a simulated building assisting injured people and moving equipment. The objective of the user was to have an estimation of the location of the firemen on the map and also images of their operations. Two autonomous helicopters were available and ready on the landing pads for this mission. The techniques adopted to compute the required waypoints for the observation of the firemen from the UAVs are described in the paper. The detailed description of a firemen monitoring mission used to validate the approach is also provided.","PeriodicalId":371261,"journal":{"name":"2010 IEEE Safety Security and Rescue Robotics","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129519728","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-26DOI: 10.1109/SSRR.2010.5981560
Donny K. Sutantyo, S. Kernbach, V. Nepomnyashchikh, P. Levi
An efficient search algorithm is very crucial in robotic area, especially for exploration missions, where the target availability is unknown and the condition of the environment is highly unpredictable. In a very large environment, it is not sufficient to scan an area or volume by a single robot, multiple robots should be involved to perform the collective exploration. In this paper, we propose to combine bio-inspired search algorithm called Lévy flight and artificial potential field method to perform an efficient searching algorithm for multi-robot applications. The main focus of this work is to prove the concept and to measure the efficiency of the algorithm. Several experiments, which compare different search algorithms, are also performed.
{"title":"Multi-robot searching algorithm using Lévy flight and artificial potential field","authors":"Donny K. Sutantyo, S. Kernbach, V. Nepomnyashchikh, P. Levi","doi":"10.1109/SSRR.2010.5981560","DOIUrl":"https://doi.org/10.1109/SSRR.2010.5981560","url":null,"abstract":"An efficient search algorithm is very crucial in robotic area, especially for exploration missions, where the target availability is unknown and the condition of the environment is highly unpredictable. In a very large environment, it is not sufficient to scan an area or volume by a single robot, multiple robots should be involved to perform the collective exploration. In this paper, we propose to combine bio-inspired search algorithm called Lévy flight and artificial potential field method to perform an efficient searching algorithm for multi-robot applications. The main focus of this work is to prove the concept and to measure the efficiency of the algorithm. Several experiments, which compare different search algorithms, are also performed.","PeriodicalId":371261,"journal":{"name":"2010 IEEE Safety Security and Rescue Robotics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132731761","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-26DOI: 10.1109/SSRR.2010.5981574
Hisayoshi Sugiyama, T. Tsujioka, M. Murata
The autonomous chain network formation by multi-robot rescue system is investigated. Chain networks connecting a base station and rescue robots are essential to reconnoiter distant spaces in disaster areas. The chains must be formed to assure communications among them and must be transformed if the target of exploration changes. These formations must be executed by autonomous movements of robots from reliable viewpoints in rescue operations. As the basis of their movements, we adopt autonomous classification of robots into search robots and relay robots. They act according to the behavior algorithms of each class of robot to form chain network threading the path to the distant spaces. The rule of the classification and the behavior algorithm refer forwarding table of each robot constructed for ad hoc networking. The results of simulations show that chain networks are formed and transformed by rescue robots appropriately for their reconnaissance to distant spaces even though three spaces exist beyond different corridors stemming from the safety zone where base station is established.
{"title":"Autonomous chain network formation by multi-robot rescue system with ad hoc networking","authors":"Hisayoshi Sugiyama, T. Tsujioka, M. Murata","doi":"10.1109/SSRR.2010.5981574","DOIUrl":"https://doi.org/10.1109/SSRR.2010.5981574","url":null,"abstract":"The autonomous chain network formation by multi-robot rescue system is investigated. Chain networks connecting a base station and rescue robots are essential to reconnoiter distant spaces in disaster areas. The chains must be formed to assure communications among them and must be transformed if the target of exploration changes. These formations must be executed by autonomous movements of robots from reliable viewpoints in rescue operations. As the basis of their movements, we adopt autonomous classification of robots into search robots and relay robots. They act according to the behavior algorithms of each class of robot to form chain network threading the path to the distant spaces. The rule of the classification and the behavior algorithm refer forwarding table of each robot constructed for ad hoc networking. The results of simulations show that chain networks are formed and transformed by rescue robots appropriately for their reconnaissance to distant spaces even though three spaces exist beyond different corridors stemming from the safety zone where base station is established.","PeriodicalId":371261,"journal":{"name":"2010 IEEE Safety Security and Rescue Robotics","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134631770","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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