Sensor Driven Multiple Robot Mapping and Exploration

未来，机器人将被用于协助救援人员在灾难发生后进行搜救任务。经济实惠的机器人可以快速部署，并在危险情况下使用，以确定幸存者的位置，并将他们的行踪数据发送给急救人员。NSERC探索计划的重点是新兴市场：用于应急响应的新型机器人测绘和勘探技术。******机器人被广泛用于执行对人类来说太脏或太危险的任务。在未知环境中的传感、定位和探索是现实世界机器人应用需要解决的关键问题。同时定位和映射（SLAM）是机器人对未知环境进行持续探索和映射的过程。随着机器人技术的快速发展，机器人需要与其他机器人进行团队合作，共享信息和协调活动。支持多机器人系统感知和决策过程的重要研究正在进行中。多机器人SLAM的优点包括对故障的鲁棒性更强，在探索和绘制未知环境时速度更快。拟议的五年研究计划将侧重于为多个异构机器人开发新型传感器驱动的协同探索和3D测绘技术。******以下问题将被研究：多机器人的传感、映射、规划和控制。多个机器人必须感知周围环境，融合数据，并以有用的方式解释它们。然后，机器人需要绘制未知环境的地图，并在环境中定位自己。接下来，机器人必须规划路径以探索该区域并完成任务。最后，机器人必须控制自己，以便执行决策。******在之前的NSERC发现资助计划的支持下，申请人的研究小组已经开发了用于现实世界空中，地面和海上应用的机器人技术。对于拟议的研究计划，研究小组将对多个机器人进行前沿研究，并应对新的挑战。配备摄像头和激光传感器的多个机器人可以提供增强的态势感知。这项研究计划的预期成果是新颖的3D勘探和测绘技术，可用于协助应急响应人员快速收集信息。******这个NSERC发现项目的结果将通过提供机器人和无人系统的前沿研究，为新不伦瑞克省和加拿大带来重大和持久的利益。研究结果将用于应急应用。此外，该研究将为无人系统、机器人、机电一体化、控制理论、测绘、人工智能和航空航天领域的高素质人才提供培训，这些都是加拿大雇主高度需要的

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.**