Pub Date : 2021-10-25DOI: 10.1109/SSRR53300.2021.9597870
Samuel Kemp, J. Rogers
This paper presents a novel configuration of UAV-UGV teams for rapid radiological mapping. The UGVs are equipped with low cost Geiger-Müller counters whose measurements are simulated using Poisson statistics. Gaussian Process Regression (GPR) is used to generate a model of the radiation field that includes uncertainty estimates. In the current work, the UAVs do not have sensors and only act as carrier drones for the UGVs equipped with sensors. The UAVs leverage information-driven path planning where the metric for information is the uncertainty in the GPR model. This information metric is used to determine regions to deploy the UGVs. The UGVs cover their given region using Boustrophedon cellular decomposition. Monte Carlo studies show that UAV-UGV teams using information theoretic path planning (ITPP) are able to lower the model error significantly faster relative to control experiments with UGV-only mapping or with UAV-UGV teams performing random sampling (RS). The model error decays exponentially for the UAV-UGV teams but only linearly for the UGV-only teams. These results illustrate a potential system concept for UAV-UGV teams performing radiation mapping and provide baseline results quantifying potential performance improvements over systems employing only mobile ground sensors.
{"title":"UAV-UGV Teaming for Rapid Radiological Mapping","authors":"Samuel Kemp, J. Rogers","doi":"10.1109/SSRR53300.2021.9597870","DOIUrl":"https://doi.org/10.1109/SSRR53300.2021.9597870","url":null,"abstract":"This paper presents a novel configuration of UAV-UGV teams for rapid radiological mapping. The UGVs are equipped with low cost Geiger-Müller counters whose measurements are simulated using Poisson statistics. Gaussian Process Regression (GPR) is used to generate a model of the radiation field that includes uncertainty estimates. In the current work, the UAVs do not have sensors and only act as carrier drones for the UGVs equipped with sensors. The UAVs leverage information-driven path planning where the metric for information is the uncertainty in the GPR model. This information metric is used to determine regions to deploy the UGVs. The UGVs cover their given region using Boustrophedon cellular decomposition. Monte Carlo studies show that UAV-UGV teams using information theoretic path planning (ITPP) are able to lower the model error significantly faster relative to control experiments with UGV-only mapping or with UAV-UGV teams performing random sampling (RS). The model error decays exponentially for the UAV-UGV teams but only linearly for the UGV-only teams. These results illustrate a potential system concept for UAV-UGV teams performing radiation mapping and provide baseline results quantifying potential performance improvements over systems employing only mobile ground sensors.","PeriodicalId":423263,"journal":{"name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121875012","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 : 2021-10-25DOI: 10.1109/SSRR53300.2021.9597864
R. Edlinger, Christoph Föls, R. Froschauer, A. Nüchter
In this paper, we address the motion efficiency in autonomous robot exploration with tracked vehicles in rough terrain. Tracked vehicles, along with wheel-driven propulsion systems, are the preferred platform for Unmanned Ground Vehicles (UGVs) in poor terrain conditions. However, these robots have problems with cornering, turning maneuvers or rotation around the central axis. Depending on the coefficient of friction between the tracks and the ground, the total weight and center of mass tracked vehicles produce higher slip, purely accurate and reliable pose estimation. To improve the direction of motion and the prediction of the resulting track forces and odometry calculation for tracked vehicles, a tactile surface sensor was developed to provide improved odometry determination for different ground conditions. The integration of the measurement data of the pressure sensor and the use of an improved model to determine the contact points and to improve the odometry calculation are the main objectives of this work. This is achieved by calculating the centre of gravity of the two tracks separately, using the measurement data of the pressure sensor and the local coordinates $(x,y)$ of each of the measurement points. The sensor concept was tested and evaluated on different grounds and terrains. The system can be used as a predictive model for tracked vehicle traversability and to ensure a stable position when straight manipulation tasks must be performed on rough terrain.
{"title":"Stability metrics and improved odometry prediction for tracked vehicles with tactile sensors","authors":"R. Edlinger, Christoph Föls, R. Froschauer, A. Nüchter","doi":"10.1109/SSRR53300.2021.9597864","DOIUrl":"https://doi.org/10.1109/SSRR53300.2021.9597864","url":null,"abstract":"In this paper, we address the motion efficiency in autonomous robot exploration with tracked vehicles in rough terrain. Tracked vehicles, along with wheel-driven propulsion systems, are the preferred platform for Unmanned Ground Vehicles (UGVs) in poor terrain conditions. However, these robots have problems with cornering, turning maneuvers or rotation around the central axis. Depending on the coefficient of friction between the tracks and the ground, the total weight and center of mass tracked vehicles produce higher slip, purely accurate and reliable pose estimation. To improve the direction of motion and the prediction of the resulting track forces and odometry calculation for tracked vehicles, a tactile surface sensor was developed to provide improved odometry determination for different ground conditions. The integration of the measurement data of the pressure sensor and the use of an improved model to determine the contact points and to improve the odometry calculation are the main objectives of this work. This is achieved by calculating the centre of gravity of the two tracks separately, using the measurement data of the pressure sensor and the local coordinates $(x,y)$ of each of the measurement points. The sensor concept was tested and evaluated on different grounds and terrains. The system can be used as a predictive model for tracked vehicle traversability and to ensure a stable position when straight manipulation tasks must be performed on rough terrain.","PeriodicalId":423263,"journal":{"name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134579223","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 : 2021-10-25DOI: 10.1109/ssrr53300.2021.9597862
Ozer Ozkahraman, P. Ogren
{"title":"Efficient Navigation Aware Seabed Coverage using AUVs","authors":"Ozer Ozkahraman, P. Ogren","doi":"10.1109/ssrr53300.2021.9597862","DOIUrl":"https://doi.org/10.1109/ssrr53300.2021.9597862","url":null,"abstract":"","PeriodicalId":423263,"journal":{"name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132838443","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 : 2021-10-25DOI: 10.1109/SSRR53300.2021.9597872
A. Safaei, I. Sharf
In this paper, a solution is provided for collaborative transportation of a rigid payload by four quadrotors, while a desired formation topology is maintained among the vehicles. Each quadrotor is connected to the payload using a rigid link, where the joints to the payload are located on two perpendicular lines through the center of mass of the payload. The proposed solution includes an adaptive control scheme comprising several modules. Each module is responsible for controlling the motion of a specific subsystem of the entire payload-links-quadrotors system. Since an adaptive model-free control algorithm is utilized for tracking the desired set-points for each module, no information on the inertial parameters of the drones is required. The formation topology is achieved among the quadrotors by a geometry-based solution. Moreover, by utilizing a special linear Kalman filter for estimating the unit vectors along the connecting rigid links, the requirement for position and velocity estimation of the drones is revoked. Instead, the position and velocity of the payload must be estimated by using appropriate sensors. The solution is validated via numerical simulation of transporting a payload along a time-varying trajectory.
{"title":"Adaptive model-free formation-tracking controller and observer for collaborative payload transport by four drones","authors":"A. Safaei, I. Sharf","doi":"10.1109/SSRR53300.2021.9597872","DOIUrl":"https://doi.org/10.1109/SSRR53300.2021.9597872","url":null,"abstract":"In this paper, a solution is provided for collaborative transportation of a rigid payload by four quadrotors, while a desired formation topology is maintained among the vehicles. Each quadrotor is connected to the payload using a rigid link, where the joints to the payload are located on two perpendicular lines through the center of mass of the payload. The proposed solution includes an adaptive control scheme comprising several modules. Each module is responsible for controlling the motion of a specific subsystem of the entire payload-links-quadrotors system. Since an adaptive model-free control algorithm is utilized for tracking the desired set-points for each module, no information on the inertial parameters of the drones is required. The formation topology is achieved among the quadrotors by a geometry-based solution. Moreover, by utilizing a special linear Kalman filter for estimating the unit vectors along the connecting rigid links, the requirement for position and velocity estimation of the drones is revoked. Instead, the position and velocity of the payload must be estimated by using appropriate sensors. The solution is validated via numerical simulation of transporting a payload along a time-varying trajectory.","PeriodicalId":423263,"journal":{"name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116858216","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 : 2021-10-25DOI: 10.1109/SSRR53300.2021.9597858
J. Gregory, Garrett A. Warnell, Jonathan R. Fink, Satyandra K. Gupta
Autonomous navigation in off-road settings is complicated by environment-induced disturbances due to natural phenomena, such as friction and slip. This introduces deviations in trajectory-following capabilities, exacerbates the effects of inevitable understeering and, in the worst case, can lead to unsafe navigation. We anticipate that future systems will need to learn terrain-induced effects efficiently from experiences on-platform, in real-time, to compensate for complex terrain. Toward this vision, we discuss a data-driven approach to improving trajectory tracking accuracy by combining conventional, model-based solutions that use proprioceptive sensor data with online, self-supervised learning of noisy disturbances using exteroceptive data. We investigate the value and challenges of predicting disturbances and computing corresponding command offsets based on the robot's experiences.
{"title":"Improving Trajectory Tracking Accuracy for Faster and Safer Autonomous Navigation of Ground Vehicles in Off-Road Settings","authors":"J. Gregory, Garrett A. Warnell, Jonathan R. Fink, Satyandra K. Gupta","doi":"10.1109/SSRR53300.2021.9597858","DOIUrl":"https://doi.org/10.1109/SSRR53300.2021.9597858","url":null,"abstract":"Autonomous navigation in off-road settings is complicated by environment-induced disturbances due to natural phenomena, such as friction and slip. This introduces deviations in trajectory-following capabilities, exacerbates the effects of inevitable understeering and, in the worst case, can lead to unsafe navigation. We anticipate that future systems will need to learn terrain-induced effects efficiently from experiences on-platform, in real-time, to compensate for complex terrain. Toward this vision, we discuss a data-driven approach to improving trajectory tracking accuracy by combining conventional, model-based solutions that use proprioceptive sensor data with online, self-supervised learning of noisy disturbances using exteroceptive data. We investigate the value and challenges of predicting disturbances and computing corresponding command offsets based on the robot's experiences.","PeriodicalId":423263,"journal":{"name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117194465","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 : 2021-10-25DOI: 10.1109/SSRR53300.2021.9597867
Tamim Samman, James Spearman, Ayan Dutta, O. P. Kreidl, Swapnoneel Roy, Ladislau Bölöni
In a coordinated multi-robot information sampling scenario, robots often share their collected information with others for a better prediction. As with any other online data sharing technique, data integrity is a concern, but it has not yet been addressed in the multi-robot information sampling literature. In this paper, we study how to secure the information being shared among the robots in such a multi-robot network against integrity attacks and what is the cost of integrating such security techniques. To this end, we propose a Blockchain-based information sharing protocol that helps the robots reject fake data injection by a malicious entity. On the other hand, optimal information sampling is a compute-intensive technique and so are the popular Blockchain-based consensus protocols. Therefore, we also study the impact of adding such a security protocol on the execution time of the sampling algorithm, which in turn effects the energy spent by the robots. Results show that our proposed technique is effective against such data tampering attempts while the effect of the added computation varies largely on the consensus protocol used.
{"title":"Secure Multi-Robot Adaptive Information Sampling","authors":"Tamim Samman, James Spearman, Ayan Dutta, O. P. Kreidl, Swapnoneel Roy, Ladislau Bölöni","doi":"10.1109/SSRR53300.2021.9597867","DOIUrl":"https://doi.org/10.1109/SSRR53300.2021.9597867","url":null,"abstract":"In a coordinated multi-robot information sampling scenario, robots often share their collected information with others for a better prediction. As with any other online data sharing technique, data integrity is a concern, but it has not yet been addressed in the multi-robot information sampling literature. In this paper, we study how to secure the information being shared among the robots in such a multi-robot network against integrity attacks and what is the cost of integrating such security techniques. To this end, we propose a Blockchain-based information sharing protocol that helps the robots reject fake data injection by a malicious entity. On the other hand, optimal information sampling is a compute-intensive technique and so are the popular Blockchain-based consensus protocols. Therefore, we also study the impact of adding such a security protocol on the execution time of the sampling algorithm, which in turn effects the energy spent by the robots. Results show that our proposed technique is effective against such data tampering attempts while the effect of the added computation varies largely on the consensus protocol used.","PeriodicalId":423263,"journal":{"name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"55 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127123258","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 : 2021-10-25DOI: 10.1109/SSRR53300.2021.9597869
Ivana Kruijff-Korbayová, R. Grafe, Nils Heidemann, Alexander Berrang, Cai Hussung, C. Willms, P. Fettke, Marius Beul, Jan Quenzel, Daniel Schleich, Sven Behnke, J. Tiemann, Johannes Güldenring, Manuel Patchou, Christian Arendt, C. Wietfeld, Kevin Daun, Marius Schnaubelt, O. Stryk, Alexander Lel, Alexander Miller, Christof Röhrig, T. Straßmann, T. Barz, Stefan Soltau, Felix Kremer, Stefan Rilling, Rohan Haseloff, Stefan Grobelny, Artur Leinweber, Gerhard Senkowski, Marchell E. Thurow, Dominik Slomma, H. Surmann
To meet the challenges involved in providing adequate robotic support to first responders, a holistic approach is needed. This requires close cooperation of first responders, researchers and companies for scenario-based needs analysis, iterative development of the corresponding system functionality and integrated robotic systems as well as human-robot teamwork support, and experimentation, system testing and evaluation in realistic missions carried out with or by first responders. We describe how such a holistic approach is implemented by the partners in the cooperative project A-DRZ for the establishment of the German Rescue Robotics Center (DRZ). The A-DRZ approach addresses important requirements identified by first responders: adaptation of operational capabilities of robotic platforms; robust network connectivity; autonomous assistance functions facilitating robot control; improving situation awareness for strategic and tactical mission planning; integration of human-robot teams in the first responders' mission command structure. Solutions resulting from these efforts are tested and evaluated in excercises utilizing the advanced capabilities at the DRZ Living Lab and in external deployments.
为了应对向急救人员提供足够的机器人支持所面临的挑战，需要采用整体方法。这需要第一响应者、研究人员和公司密切合作，进行基于场景的需求分析、相应系统功能和集成机器人系统的迭代开发，以及人机团队合作支持，以及在由第一响应者或由第一响应者执行的现实任务中进行实验、系统测试和评估。我们描述了合作项目a -DRZ的合作伙伴如何实施这种整体方法，以建立德国救援机器人中心(DRZ)。A-DRZ方法解决了第一响应者确定的重要要求:适应机器人平台的操作能力;强大的网络连接;自主辅助功能，方便机器人控制;提高战略战术任务规划的态势感知能力;第一响应者任务指挥结构中人机团队的整合。通过这些努力产生的解决方案将在DRZ Living Lab和外部部署中利用先进功能进行测试和评估。
{"title":"German Rescue Robotics Center (DRZ): A Holistic Approach for Robotic Systems Assisting in Emergency Response","authors":"Ivana Kruijff-Korbayová, R. Grafe, Nils Heidemann, Alexander Berrang, Cai Hussung, C. Willms, P. Fettke, Marius Beul, Jan Quenzel, Daniel Schleich, Sven Behnke, J. Tiemann, Johannes Güldenring, Manuel Patchou, Christian Arendt, C. Wietfeld, Kevin Daun, Marius Schnaubelt, O. Stryk, Alexander Lel, Alexander Miller, Christof Röhrig, T. Straßmann, T. Barz, Stefan Soltau, Felix Kremer, Stefan Rilling, Rohan Haseloff, Stefan Grobelny, Artur Leinweber, Gerhard Senkowski, Marchell E. Thurow, Dominik Slomma, H. Surmann","doi":"10.1109/SSRR53300.2021.9597869","DOIUrl":"https://doi.org/10.1109/SSRR53300.2021.9597869","url":null,"abstract":"To meet the challenges involved in providing adequate robotic support to first responders, a holistic approach is needed. This requires close cooperation of first responders, researchers and companies for scenario-based needs analysis, iterative development of the corresponding system functionality and integrated robotic systems as well as human-robot teamwork support, and experimentation, system testing and evaluation in realistic missions carried out with or by first responders. We describe how such a holistic approach is implemented by the partners in the cooperative project A-DRZ for the establishment of the German Rescue Robotics Center (DRZ). The A-DRZ approach addresses important requirements identified by first responders: adaptation of operational capabilities of robotic platforms; robust network connectivity; autonomous assistance functions facilitating robot control; improving situation awareness for strategic and tactical mission planning; integration of human-robot teams in the first responders' mission command structure. Solutions resulting from these efforts are tested and evaluated in excercises utilizing the advanced capabilities at the DRZ Living Lab and in external deployments.","PeriodicalId":423263,"journal":{"name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"230 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121628294","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 : 2021-10-25DOI: 10.1109/SSRR53300.2021.9597680
Grace Diehl, J. Adams
Disaster response robots show promise, but risk adding significant load to already overburdened communication networks. Previous work addressed this problem by prioritizing certain messages; however, the ethical implications of message prioritization in disaster response have not been studied comprehensively. This manuscript proposes an ethical framework for evaluating message prioritization mechanisms. Additionally, a taxonomy of the existing message prioritization approaches is introduced, highlighting the ethical principles that most require further study for each approach.
{"title":"An Ethical Framework for Message Prioritization in Disaster Response","authors":"Grace Diehl, J. Adams","doi":"10.1109/SSRR53300.2021.9597680","DOIUrl":"https://doi.org/10.1109/SSRR53300.2021.9597680","url":null,"abstract":"Disaster response robots show promise, but risk adding significant load to already overburdened communication networks. Previous work addressed this problem by prioritizing certain messages; however, the ethical implications of message prioritization in disaster response have not been studied comprehensively. This manuscript proposes an ethical framework for evaluating message prioritization mechanisms. Additionally, a taxonomy of the existing message prioritization approaches is introduced, highlighting the ethical principles that most require further study for each approach.","PeriodicalId":423263,"journal":{"name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122241098","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 : 2021-10-25DOI: 10.1109/SSRR53300.2021.9597860
Brian Reily, J. Rogers, Christopher M. Reardon
Real-world disaster response or search and rescue operations require the seamless interaction of multiple teams and agencies. As multi-robot systems become more frequently used for disaster response due to the inherent dangerous environments, these systems must be controlled in way that balances the accomplishment of their mission with interaction with neighboring teams. In this paper, we address this problem by examining the balance of mission and comprehensibility. By mission, we refer to the overall task of the multi-robot system, which in a disaster response scenario is often searching an area and communicating results back to rescuers. By comprehensibility, we refer to a multi-robot system arranging itself in a way that a neighboring observer can understand what roles its members play, and react accordingly. When mission and comprehensibility are properly balanced, multi-robot teams will be more effective at working alongside one another. We propose a system of control laws for two robot roles, hubs and sensors, which provide communication and sensing, respectively. We propose additional control laws to maintain an understandable formation. Through extensive simulation of a variety of multi-robot system sizes and formations, we examine the effect of balancing mission and comprehensibility on concrete metrics for sensor coverage and role understanding.
{"title":"Balancing Mission and Comprehensibility in Multi-Robot Systems for Disaster Response","authors":"Brian Reily, J. Rogers, Christopher M. Reardon","doi":"10.1109/SSRR53300.2021.9597860","DOIUrl":"https://doi.org/10.1109/SSRR53300.2021.9597860","url":null,"abstract":"Real-world disaster response or search and rescue operations require the seamless interaction of multiple teams and agencies. As multi-robot systems become more frequently used for disaster response due to the inherent dangerous environments, these systems must be controlled in way that balances the accomplishment of their mission with interaction with neighboring teams. In this paper, we address this problem by examining the balance of mission and comprehensibility. By mission, we refer to the overall task of the multi-robot system, which in a disaster response scenario is often searching an area and communicating results back to rescuers. By comprehensibility, we refer to a multi-robot system arranging itself in a way that a neighboring observer can understand what roles its members play, and react accordingly. When mission and comprehensibility are properly balanced, multi-robot teams will be more effective at working alongside one another. We propose a system of control laws for two robot roles, hubs and sensors, which provide communication and sensing, respectively. We propose additional control laws to maintain an understandable formation. Through extensive simulation of a variety of multi-robot system sizes and formations, we examine the effect of balancing mission and comprehensibility on concrete metrics for sensor coverage and role understanding.","PeriodicalId":423263,"journal":{"name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125160775","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 : 2021-10-25DOI: 10.1109/SSRR53300.2021.9597868
Ivan Diez-de-los-Rios, A. Suárez, E. Sanchez-Laulhe, Inmaculada Armengol, A. Ollero
This paper presents the design, modelling, control, and experimental validation of a novel flapping wing aerial robot built with servo actuators that could be applied in search, rescue, and assistance to injured people. The proposed concept design is intended to facilitate the construction of this kind of aerial robots following a modular and reconfigurable approach, consisting of a series of Servo-Flapping Engine (SFE) modules attached to the carbon fibre tube used as fuselage, and a tail servo, covering the structure with a light nylon cloth. The SFE modules are built with a pair of servos that rotate the wing rods with desired amplitude, frequency, and relative phase. Combining two SFE modules, it is possible to generate different flapping patterns and control the orientation of the aerodynamic surfaces. The paper covers the parametrization of the design, the hardware/software implementation, as well as the modelling and control. The proposed design is validated through gliding and flapping tests in an outdoor environment.
{"title":"Winged Aerial Robot: Modular Design Approach","authors":"Ivan Diez-de-los-Rios, A. Suárez, E. Sanchez-Laulhe, Inmaculada Armengol, A. Ollero","doi":"10.1109/SSRR53300.2021.9597868","DOIUrl":"https://doi.org/10.1109/SSRR53300.2021.9597868","url":null,"abstract":"This paper presents the design, modelling, control, and experimental validation of a novel flapping wing aerial robot built with servo actuators that could be applied in search, rescue, and assistance to injured people. The proposed concept design is intended to facilitate the construction of this kind of aerial robots following a modular and reconfigurable approach, consisting of a series of Servo-Flapping Engine (SFE) modules attached to the carbon fibre tube used as fuselage, and a tail servo, covering the structure with a light nylon cloth. The SFE modules are built with a pair of servos that rotate the wing rods with desired amplitude, frequency, and relative phase. Combining two SFE modules, it is possible to generate different flapping patterns and control the orientation of the aerodynamic surfaces. The paper covers the parametrization of the design, the hardware/software implementation, as well as the modelling and control. The proposed design is validated through gliding and flapping tests in an outdoor environment.","PeriodicalId":423263,"journal":{"name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134264709","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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