I/UCRC FRP: Collaborative Research: Autonomous Perception and Manipulation in Search and Rescue

该项目希望利用一组机器人，这些机器人可以更好地感知环境，然后执行基本的操作任务。该项目的愿景是轻松集成机器人，提供人类团队界面，并开发操作算法。该研究将涉及感知策略和操作方案的开发，这些策略和操作方案将允许机器人团队在搜索和救援任务期间在现实环境中操作。此外，这项研究将涉及在照明条件可能不理想的混乱场景中工作。该项目涉及：㈠研究机器人感知和操纵目标物体的新问题，这些目标物体作为环境的一个组成部分与其他物体相互作用，在操纵之前，这些物体在视野和实际安排上不能完全孤立; ㈡采用基于外观的方法，从单一视角识别杂乱场景中的三维物体并估计其姿态;（iii）开发从每个视点的场景可识别性的测量，以评估部分遮挡物体被识别的准确程度以及它们的姿态被估计的程度;（iv）创建三维结构拆卸分析的解决方案，扩展我们对二维结构的初步分析; ㈤根据感知结果并借助对物体排列及其与环境和相互之间的相互作用的稳定性分析，发展抓握能力;以及（vi）在真实世界设置中对系统进行实验验证，与我们的工业合作伙伴密切磋商。该项目将允许创建操纵能力沿着感知方案，以促进一个多机器人团队来执行搜救任务该项目的影响包括：㈠扩大年度机器人夏令营，以包括机器人团队活动，目的是吸引代表性不足群体的中学生学习计算机科学/电气工程; ㈡通过宾夕法尼亚大学和夏洛特夏洛特大学的合作，将活动与第一反应者结合起来; ㈡在UMN和德克萨斯州灾难城市的SAFL进行实验验证;（iii）向REU本科生或UROP计划提供项目主题;（iv）涉及向当地K-12机构演示的外联计划;以及（v）将项目主题纳入常规课程。

This project wants to capitalize on a team of robots that move in order to better sense the environment and then perform basic manipulation tasks. The vision of the project is to integrate robots easily, provide human-team interfaces, and develop manipulation algorithms. The research will involve the development of perception strategies and manipulation schemes that will allow operation of the robot teams in real-world environments during search and rescue missions. In addition, this research will involve working in cluttered scenes where the lighting conditions may not be ideal. The project addresses: (i) Research on the novel problem of robotic perception and manipulation of target objects that interact with other objects as an integral part of the environment, which cannot be fully isolated in views and in physical arrangements before being manipulated; (ii) An appearance-based approach for recognition and pose estimation of 3D objects in cluttered scenes from a single view; (iii) Development of a measure of scene recognizability from each viewpoint to evaluate how accurately partially-occluded objects are recognized and how well their poses are estimated; (iv) Creation of solutions for disassembly analysis of 3D structures, extending our preliminary analysis of 2D structures; (v) Development of grasping based on the results of perception and with the aid of stability analysis of the arrangement of the objects and their interaction with the environment and with one another; and (vi) Experimental validation of the system in real-world settings, in close consultation with our industrial partners.This project will allow the creation of manipulation capabilities along with perception schemes to facilitate the development of a multi-robot team for search and rescue missions. The impacts of the project include: (i) Expansion of the annual robot summer camp to include robot-team activities with the objective of attracting middle-schoolers from under-represented groups to computer science/electrical engineering; (ii) Integration of the activities with first responders through the UPenn and UNC Charlotte collaborations; (ii) Experimental validation in SAFL at UMN and the Disaster City in TX; (iii) Offering project themes to REU undergraduates or to the UROP program; (iv) Outreach programs that involve demonstrations to local K-12 institutions; and (v) Inclusion of the project theme to the regular curricula.