Advertisement

Field Experiment on Multiple Mobile Robots Conducted in an Underground Mall

  • Tomoaki Yoshida
  • Keiji Nagatani
  • Eiji Koyanagi
  • Yasushi Hada
  • Kazunori Ohno
  • Shoichi Maeyama
  • Hidehisa Akiyama
  • Kazuya Yoshida
  • Satoshi Tadokoro
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 62)

Abstract

Rapid information gathering during the initial stage of investigation is an important process in case of disasters. However this task could be very risky, or even impossible for human rescue crews, when the environment has contaminated by nuclear, biological, or chemical weapons. We developed the information gathering system using multiple mobile robots teleoperated from the safe place, to be deployed in such situation. In this paper, we described functions of the system and report the field experiment conducted in a real underground mall to validate its usability, limitation, and requirements for future developments.

Keywords

Search and Rescue Teleoperation Field Robotics Mapping 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Ohno, K., Morimura, S., Tadokoro, S., Koyanagi, E., Yoshida, T.: Semi-autonomous Control System of Rescue Crawler Robot Having Flippers for Getting Over Unknown-Steps. In: Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3012–3018 (2007)Google Scholar
  2. 2.
    Ohno, K., Kawahara, T., Tadokoro, S.: Development of 3-D Laser Scanner for Measuring Uniform and Dense 3-D Shapes of Static Objects in Dynamic Environment. In: Proc. of the 2008 IEEE International Conference on Robotics and Biomimetics (2008)Google Scholar
  3. 3.
    NIED, AIST: Mitigation Information Sharing Protocol. rev.1.00.028s edn. (September 2006)Google Scholar
  4. 4.
    Noda, I., Hada, Y., Meguro, J., Shimora, H.: Information Sharing and Integration Among Rescue Robots and Information Systems. In: Tadokoro, S., Matsuno, F., Asama, H., Osuka, K., Onosato, M. (eds.) Proc. of IROS2007 Full-Day Workshop MW-3 (Rescue Robotics), IROS, October 2007, pp. 125–139 (2007)Google Scholar
  5. 5.
  6. 6.
    Nagatani, K., Yamasaki, A., Yoshida, K., Yoshida, T., Eiji, K.: Semi-autonomous Traversal on Uneven Terrain for a Tracked Vehicle using Autonomous Control of Active Flippers. In: Proc. of IEEE/RSJ International Conference on Intellegent Robots and Systems, pp. 2667–2672 (2008)Google Scholar
  7. 7.
    Endo, D., Okada, Y., Nagatani, K., Yoshida, K.: Path Following Control for Tracked Vehicles based on Slip-compensating Odometry. In: Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2871–2876 (2007)Google Scholar
  8. 8.
    Nagatani, K., Tokunaga, T., Okada, Y., Yoshida, K.: Continuous Acquisition of Three-dimensional Environment Information for Tracked Vehicles on Uneven Terrain. In: Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, pp. 25–30 (2008)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Tomoaki Yoshida
    • 1
  • Keiji Nagatani
    • 1
  • Eiji Koyanagi
    • 2
  • Yasushi Hada
    • 5
  • Kazunori Ohno
    • 2
  • Shoichi Maeyama
    • 3
  • Hidehisa Akiyama
    • 4
  • Kazuya Yoshida
    • 2
  • Satoshi Tadokoro
    • 2
  1. 1.Chiba Institute of Technology 
  2. 2.Tohoku University 
  3. 3.Okayama University 
  4. 4.National Institute of Advanced Industrial Science and Technology 
  5. 5.National Institute of Information and Communications Technology 

Personalised recommendations