This paper presents the results from search and rescue missions performed with the aerial robot OTUS in the the context of the ISEP/INESC TEC aerial robotics team participation on the euRathlon 2015 robotics competition. The multi-domain (land, sea and air) search and rescue scenario is described and technical solution adopted is presented with emphasis on the perception system. The calibration of the image based system is addressed. Results from the operational missions performed are also discussed. The aerial autonomous vehicle was able to successfully perform multiple tasks from the aerial reconnaissance and 3D mapping to the identification of leaking pipes, obstructed passages and missing workers. The system was validated a realistic operational scenario and won the Grand Challenge in cooperation with land and marine robotics partner teams. This challenge was the first time that a real time collaborative team of aerial, land and marine robots was deployed successfully in a search and rescue mission.
This is a preview of subscription content, access via your institution.
Buy single article
Instant access to the full article PDF.
Price excludes VAT (USA)
Tax calculation will be finalised during checkout.
Winfield, A.F.T., Franco, M.P., Brueggemann, B., Castro, A., Cordero Limon, M., Ferri, G., Ferreira, F., Liu, X., Petillot, Y., Roning, J., Schneider, F., Stengler, E., Sosa, D., Viguria, A.: euRathlon 2015: A Multi-domain Multi-robot Grand Challenge for Search and Rescue Robots, pp. 351–363. Springer International Publishing, Cham (2016)
Marconi, L., Melchiorri, C., Beetz, M., Pangercic, D., Siegwart, R., Leutenegger, S., Carloni, R., Stramigioli, S., Bruyninckx, H., Doherty, P., Kleiner, A., Lippiello, V., Finzi, A., Siciliano, B., Sala, A., Tomatis, N.: The SHERPA project: smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments. In: 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012, 00(c) (2012)
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: 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013 (February 2016) (2013)
Matos, A., Martins, A., Dias, A., Ferreira, B., Almeida, J.M., Ferreira, H., Amaral, G., Figueiredo, A., Almeida, R., Silva, F.: Multiple robot operations for maritime search and rescue in eurathlon 2015 competition. In: OCEANS 2016 - Shanghai, pp. 1–7 (2016)
De Cubber, G., Balta, H., Doroftei, D., Baudoin, Y.: UAS deployment and data processing during the Balkans flooding. In: 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings (2014)
Michael, N., Shen, S., Mohta, K., Mulgaonkar, Y., Kumar, V., Nagatani, K., Okada, Y., Kiribayashi, S., Otake, K., Yoshida, K., Ohno, K., Takeuchi, E., Tadokoro, S.: Collaborative mapping of an earthquake-damaged building via ground and aerial robots. J. Field Robot. 29(5), 832–841 (2012)
Steimle, E.T., Murphy, R.R., Lindemuth, M., Hall, M.L.: Unmanned marine vehicle use at Hurricanes Wilma and Ike. In: OCEANS 2009, MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges, pp. 1–6 (2009)
Murphy, R.R.: Findings from NSF-JST-NIST workshop on rescue robotics. In: 8th IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR-2010 (2010)
Linder, T., Augustin, S., Blumenthal, S., Molitor, P., Holz, D., Murphy, R.: Rescue Robots at the Collapse of the Municipal Archive of Cologne City: A Field Report (2009)
Carlson, J., Murphy, R.R.: How UGVs physically fail in the field. IEEE Trans. Robot. 21(3), 423–437 (2005)
Dole, L.D., Sirkin, D.M., Murphy, R.R., Nass, C.I.: Robots need humans in the loop to improve the hopefulness of disaster survivors. In: 2015 24th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 707–714. IEEE (2015)
Sousa, P., Ferreira, A., Moreira, M., Santos, T., Martins, A., Dias, A., Almeida, J., Silva, E.: Isep/inesc tec aerial robotics team for search and rescue operations at the eurathlon challenge 2015. In: 2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC), pp. 156–161. IEEE (2016)
Schneider, F.E., Wildermuth, D., Wolf, H.-L.: ELROB and EURATHLON: improving search & rescue robotics through real-world robot competitions. In: 2015 10th International Workshop on Robot Motion and Control (RoMoCo), pp. 118–123 (2015)
Meier, L., Honegger, D., Pollefeys, M.: PX4: a node-based multithreaded open source robotics framework for deeply embedded platforms. In: 2015 IEEE International Conference on Robotics and Automation (ICRA) (2015)
Dias, A., Almeida, J., Lima, P., Silva, E.: Uncertainty based multi-robot cooperative triangulation. In: Robot Soccer World Cup, pp. 502–513. Springer, Berlin (2014)
Dias, A., Capitan, J., Merino, L., Almeida, J., Lima, P., Silva, E.: Decentralized target tracking based on multi-robot cooperative triangulation. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 3449–3455 (2015)
Bouguet, J.-Y.: Camera calibration toolbox for matlab (2004)
Winfield, A.F.T., Franco, M.P., Brueggemann, B., Castro, A., Cordero Limon, M., Ferri, G., Ferreira, F., Liu, X., Petillot, Y., Roning, J., et al.: eurathlon 2015: a multi-domain multi-robot grand challenge for search and rescue robots. In: Conference Towards Autonomous Robotic Systems, pp. 351–363. Springer (2016)
The authors would like to thanks to Cobham and the Universitat de Girona team, that were partners in land and sea during the euRathlon competition.
This work is financed by the ERDF—European Regional Development Fund through the Operational Program for Competitiveness and Internationalization—COMPETE 2020 Program within project POCI-01-0145-FEDER-006961, and by National Funds through the FCT—Portuguese Foundation for Science and Technology as part of project UID/EEA/50014/2013.
About this article
Cite this article
Sousa, P., Ferreira, A., Moreira, M. et al. ISEP/INESC TEC Aerial Robotics Team for Search and Rescue Operations at the euRathlon 2015. J Intell Robot Syst 93, 447–460 (2019). https://doi.org/10.1007/s10846-018-0772-1