Development of an Experimental Multi-robot CBRNE Reconnaissance Demonstrator

System Description and Technical Validation
  • Frank E. Schneider
  • Dennis Wildermuth
  • Markus Ducke
  • Bernd Brüggemann
Part of the Communications in Computer and Information Science book series (CCIS, volume 318)


This paper presents a prototype of a multi-robot reconnaissance system for detection of chemical, biological, radiological, nuclear and explosive (CBRNE) threats. Our system consists of different robot platforms which are able to carry highly modularized payload platforms: either a multi-purpose CBRNE sensor suite or a mobile manipulator for semi-autonomous sample collection. A variety of sensors is available for detection and identification of chemical and radiological hazards as well as for collecting potentially dangerous airborne biological particles. A manipulator can be used to gather chemical and biological samples directly from surfaces in the environment. A detailed description illustrates the robot platforms, the CBRNE sensor suite and relevant parts of the user interface. For a technical validation preliminary real world experiments are presented.


multi-robot CBRNE hazard detection emergency response 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Humphrey, C.M., Adams, J.A.: Robotic Tasks for CBRNE Incident Response. Advanced Robotics 23(9), 1217–1232 (2009)CrossRefGoogle Scholar
  2. 2.
    Casper, J., Micire, M., Murphy, R.R.: Issues in Intelligent Robots for Search and Rescue. In: Unmanned Ground Vehicle Technology II - Proceedings of SPIE, vol. 4024, pp. 292–302 (2000)Google Scholar
  3. 3.
    Lundberg, C., Reinhold, R., Christensen, H.I.: Evaluation of robot deployment in live missions with the military, police, and fire brigade. In: Carapezza, E.M. (ed.) Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense VI – Proceedings of SPIE, vol. 6538 (2007)Google Scholar
  4. 4.
    Murphy, R.R., Stover, S.: Rescue Robots for Mudslides: A Descriptive Study of the 2005 La Conchita Mudslide Response. Journal of Field Robotics 25(1), 3–16 (2008)CrossRefGoogle Scholar
  5. 5.
    Casper, J., Murphy, R.R.: Human-Robot Interactions During the Robot-Assisted Urban Search and Rescue Response at the World Trade Center. IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics 33(3), 367–385 (2003)CrossRefGoogle Scholar
  6. 6.
    Penzes, S.G.: Multi Agent Tactical Sentry (MATS) Project Review. In: Gerhart, G.R., et al. (eds.) Unmanned Systems Technology VIII - Proceedings of SPIE, vol. 6230 (2006)Google Scholar
  7. 7.
    Giesbrecht, J., Fairbrother, B., Collier, J., Beckman, B.: Integration of a High Degree of Freedom Robotic Manipulator on a Large Unmanned Ground Vehicle. In: Gerhart, G.R., et al. (eds.) Unmanned Systems Technology XII – Proceedings of SPIE, vol. 7692 (2010)Google Scholar
  8. 8.
    Neilsen, C.W., Gertman, D.I., Bruemmer, D.J., Hartley, R.S., Walton, M.C.: Evaluating Robot Technologies as Tools to Explore Radiological and Other Hazardous Environments. In: Proceedings of the American Nuclear Society Emergency Planning and Response, and Robotics and Security Systems Joint Topical Meeting, Albuquerque (2008)Google Scholar
  9. 9.
    Jasiobedzki, P., Ng, H.-K., Bondy, M., McDiarmid, C.H.: C2SM: a mobile system for detecting and 3D mapping of Chemical, Radiological, and Nuclear contamination. In: Pro-ceedings of Sensors, and Command, Control, Communications, and Intelligence, Technologies for Homeland Security and Homeland Defense VIII (2009)Google Scholar
  10. 10.
    Zarzhitsky, D., Spears, D., Spears, W., Thayer, D.: A Fluid Dynamics Approach to Multi-Robot Chemical Plume Tracing. In: Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, vol. 3, pp. 1476–1477 (2004)Google Scholar
  11. 11.
    Kathirgamanthan, P., McKibbin, R., McLachlan, R.: Source Term Estimation of Pollution from an Instantaneous Point Source. Research Letters in the Information and Mathematical Sciences 3, 59–67 (2002)Google Scholar
  12. 12.
    Christopoulos, V., Roumeliotis, S.: Multi Robot Trajectory Generation for Single Source Explosion Parameter Estimation. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, pp. 2803–2809 (2005)Google Scholar
  13. 13.
    Christopoulos, V., Roumeliotis, S.: Adaptive Sensing for Instantaneous Gas Release Parameter Estimation. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, pp. 4450–4456 (2005)Google Scholar
  14. 14.
    Schneider, F.E., Wildermuth, D.: An Autonomous Unmanned Vehicle for CBRNE Reconnaissance. In: Proceedings of the 12th International Carpathian Control Conference (ICCC 2011), Velke Karlovice, pp. 351–356 (2011)Google Scholar
  15. 15.
    Hoeller, F., Roehling, T., Schulz, D.: Offroad Navigation Using Adaptable Motion Patterns. In: Proceedings of the International Conference on Informatics in Control, Automation and Robotics (ICINCO), Milan (2009)Google Scholar
  16. 16.
    St. Louis, R.H., Hill Jr., H.H., Eiceman, G.A.: Ion Mobility Spectrometry in Analytical Chemistry. Critical Reviews in Analytical Chemistry 21(5), 321–355 (1990)CrossRefGoogle Scholar
  17. 17.
    Schneider, F.E., Wildermuth, D.: Results of the European Land Robot Trial and Their Usability for Benchmarking Outdoor Robot Systems. In: Groß, R., Alboul, L., Melhuish, C., Witkowski, M., Prescott, T.J., Penders, J. (eds.) TAROS 2011. LNCS, vol. 6856, pp. 408–409. Springer, Heidelberg (2011)CrossRefGoogle Scholar
  18. 18.
    Robot Operating System (ROS) documentation,

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Frank E. Schneider
    • 1
  • Dennis Wildermuth
    • 1
  • Markus Ducke
    • 1
  • Bernd Brüggemann
    • 1
  1. 1.Research Group Unmanned Systems, Fraunhofer Institute for CommunicationInformation Processing and Ergonomics FKIEWachtbergGermany

Personalised recommendations