Sensor Driven Multiple Robot Mapping and Exploration

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In the future, robots will be used to assist rescue crews in search and rescue missions after disasters. Affordable robots can be quickly deployed and used in dangerous situations to locate survivors and send data about their whereabouts to first responders. The proposed NSERC Discovery program focuses on an emerging market: novel robotics mapping and exploration technologies for emergency responders. ******Robots are widely used to perform tasks that are too dirty or dangerous for humans. Sensing, localization and exploration in unknown environments are key issues to be addressed for real-world robotics applications. Simultaneous Localization And Mapping (SLAM) is a process in which an unknown environment is explored and mapped consistently by a robot. With the rapid development of robotics technologies, robots need to work in teams with other robots to share information and coordinate activities. Significant research is in progress to support the perception and decision-making process for multiple-robot systems. Multiple-robot SLAM has benefits such as being more robust to failures and being faster in exploring and mapping unknown environments. The proposed five-year research program will focus on developing novel sensor driven cooperative exploration and 3D mapping technologies for multiple heterogeneous robots. ******The following problems will be investigated: sensing, mapping, planning, and control for multiple robots. Multiple robots must sense the surroundings, fuse the data, and interpret them in a useful way. Then the robots need to map the unknown environment and localize themselves in the environment. Next, robots must plan paths in order to explore the area and accomplish the mission. Finally, robots must control themselves so as to implement the decisions.******With the support of the previous NSERC Discovery Grant program, the applicant's research group has developed robotics technologies for real-world air, ground, and maritime applications. For the proposed research program, the research group will conduct cutting-edge research on multiple robots and address new challenges. Multiple robots equipped with cameras and laser sensors can provide enhanced situation awareness. The expected outcome of this research program is novel 3D exploration and mapping technologies that can be used to assist emergency responders in rapid information gathering.******The results of this NSERC Discovery program will have significant and lasting benefits to the Province of New Brunswick and Canada by providing cutting-edge research on robotics and unmanned systems. The results will be used for emergency response applications. Furthermore, the research will provide training for highly qualified personnel in the areas of unmanned systems, robotics, mechatronics, control theories, mapping, artificial intelligence, and aerospace, which are highly demanded by Canadian employers.**