Multi-robot exploration for search and rescue missions: A report of map building in RoboCupRescue 2009
Multi-robot exploration for search and rescue missions: A report of map building in RoboCupRescue 2009
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DOI：
10.1109/ssrr.2009.5424148
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发表时间：
2009-11
期刊：
影响因子：
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通讯作者：
K. Nagatani;Yoshito Okada;N. Tokunaga;Kazuya Yoshida;Seiga Kiribayashi;K. Ohno;E. Takeuchi;S. Tadokoro;Hidehisa Akiyama;I. Noda;Tomoaki Yoshida;E. Koyanagi
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文献类型：
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作者：
K. Nagatani;Yoshito Okada;N. Tokunaga;Kazuya Yoshida;Seiga Kiribayashi;K. Ohno;E. Takeuchi;S. Tadokoro;Hidehisa Akiyama;I. Noda;Tomoaki Yoshida;E. Koyanagi
移动的机器人可能能够在自然或人为灾害后的搜索和救援任务期间在危险环境中帮助救援人员。2006年，我们开始了一个研究项目，以实现移动的机器人，可以在灾难的第一阶段迅速收集信息。3D地图是我们的重要目标之一，它可以帮助救援人员制定救援任务的战略。已经开发了一些实现3D映射的基本元素。我们参加了RoboCupRescue 2009，以验证我们的集成自主3D地图系统。我们在RoboCupRescue现场使用多个机器人演示了我们的地图绘制系统。在本文中，我们介绍了我们的映射系统和报告的结果，从RoboCupRescue比赛。
Mobile robots may be able to aid rescue crews in dangerous environments during search and rescue missions after natural or man-made disasters. In 2006, we began a research project to realize mobile robots that can gather information rapidly at the first stage of a disaster. 3D mapping, which can be an important aid for rescue crews in strategizing rescue missions, is one of our important objectives. Some fundamental elements to enable 3D mapping have been developed. We attended RoboCupRescue 2009 to validate our integrated autonomous 3D mapping system. We demonstrated our mapping system using multiple-robots on the RoboCupRescue field. In this paper, we introduce our mapping system and report the results from the RoboCupRescue competition.