Naslov
From ERL to MBZIRC: Development of An Aerial-Ground Robotic Team for Search and Rescue

Autori
Arbanas, Barbara ; Petric, Frano ; Batinović, Ana ; Polić, Marsela ; Vatavuk, Ivo ; Marković, Lovro ; Car, Marko ; Hrabar, Ivan ; Ivanović, Antun ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, znanstveni

Knjiga
Automation and Control

Urednik/ci
Dadios, Elmer P.

Izdavač
IntechOpen

Grad
Online

Godina
2022

Raspon stranica
87-112

ISBN
978-1-83969-211-6

Ključne riječi
search and rescue robotics ; aerial robotics ; autonomous exploration ; MBZIRC ; ERL

Sažetak
This chapter describes the efforts of the LARICS team in the 2019 European Robotics League (ERL) Emergency Robots and the 2020 Mohamed Bin Zayed International Robotics Challenge (MBZIRC) robotics competitions. We focus on the implementation of hardware and software modules that enable the deployment of aerial-ground robotic teams in unstructured environments for joint missions. In addition to the overall system specification, we outline the main algorithms for operation in such conditions: autonomous exploration of unknown environments and detection of objects of interest. Analysis of the results shows the success of the developed system in the competition arena of two of the largest outdoor robotics challenges. Throughout the chapter, we highlight the evolution of the robotic system based on the experience gained in the ERL competition. We conclude the chapter with key findings and additional improvement ideas to advance the state of the art in search and rescue applications of heterogeneous robotic teams.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA