Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Extending a UGV Teleoperation FLC Interface with Wireless Network Connectivity Information
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0002-6716-1111
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0001-5451-8209
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0002-0483-8391
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0002-7714-928X
2015 (Engelska)Ingår i: 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE , 2015, s. 4305-4312Konferensbidrag, Publicerat paper (Refereegranskat)
Resurstyp
Text
Abstract [en]

Teleoperated Unmanned Ground Vehicles (UGVs) are expected to play an important role in future search and rescue operations. In such tasks, two factors are crucial for a successful mission completion: operator situational awareness and robust network connectivity between operator and UGV. In this paper, we address both these factors by extending a new Free Look Control (FLC) operator interface with a graphical representation of the Radio Signal Strength (RSS) gradient at the UGV location. We also provide a new way of estimating this gradient using multiple receivers with directional antennas. The proposed approach allows the operator to stay focused on the video stream providing the crucial situational awareness, while controlling the UGV to complete the mission without moving into areas with dangerously low wireless connectivity. The approach is implemented on a KUKA youBot using commercial-off-the-shelf components. We provide experimental results showing how the proposed RSS gradient estimation method performs better than a difference approximation using omnidirectional antennas and verify that it is indeed useful for predicting the RSS development along a UGV trajectory. We also evaluate the proposed combined approach in terms of accuracy, precision, sensitivity and specificity.

Ort, förlag, år, upplaga, sidor
IEEE , 2015. s. 4305-4312
Serie
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Nationell ämneskategori
Datorseende och robotik (autonoma system)
Identifikatorer
URN: urn:nbn:se:kth:diva-185108DOI: 10.1109/IROS.2015.7353987ISI: 000371885404073Scopus ID: 2-s2.0-84958172076ISBN: 978-1-4799-9994-1 (tryckt)OAI: oai:DiVA.org:kth-185108DiVA, id: diva2:919021
Konferens
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 28-OCT 02, 2015, Hamburg, GERMANY
Anmärkning

QC 20160412

Tillgänglig från: 2016-04-12 Skapad: 2016-04-11 Senast uppdaterad: 2019-09-20Bibliografiskt granskad
Ingår i avhandling
1. Enhancing geometric maps through environmental interactions
Öppna denna publikation i ny flik eller fönster >>Enhancing geometric maps through environmental interactions
2018 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

The deployment of rescue robots in real operations is becoming increasingly commonthanks to recent advances in AI technologies and high performance hardware. Rescue robots can now operate for extended period of time, cover wider areas andprocess larger amounts of sensory information making them considerably more usefulduring real life threatening situations, including both natural or man-made disasters.

In this thesis we present results of our research which focuses on investigating ways of enhancing visual perception for Unmanned Ground Vehicles (UGVs) through environmental interactions using different sensory systems, such as tactile sensors and wireless receivers.

We argue that a geometric representation of the robot surroundings built upon vision data only, may not suffice in overcoming challenging scenarios, and show that robot interactions with the environment can provide a rich layer of new information that needs to be suitably represented and merged into the cognitive world model. Visual perception for mobile ground vehicles is one of the fundamental problems in rescue robotics. Phenomena such as rain, fog, darkness, dust, smoke and fire heavily influence the performance of visual sensors, and often result in highly noisy data, leading to unreliable or incomplete maps.

We address this problem through a collection of studies and structure the thesis as follow:Firstly, we give an overview of the Search & Rescue (SAR) robotics field, and discuss scenarios, hardware and related scientific questions.Secondly, we focus on the problems of control and communication. Mobile robotsrequire stable communication with the base station to exchange valuable information. Communication loss often presents a significant mission risk and disconnected robotsare either abandoned, or autonomously try to back-trace their way to the base station. We show how non-visual environmental properties (e.g. the WiFi signal distribution) can be efficiently modeled using probabilistic active perception frameworks based on Gaussian Processes, and merged into geometric maps so to facilitate the SAR mission. We then show how to use tactile perception to enhance mapping. Implicit environmental properties such as the terrain deformability, are analyzed through strategic glancesand touches and then mapped into probabilistic models.Lastly, we address the problem of reconstructing objects in the environment. Wepresent a technique for simultaneous 3D reconstruction of static regions and rigidly moving objects in a scene that enables on-the-fly model generation. Although this thesis focuses mostly on rescue UGVs, the concepts presented canbe applied to other mobile platforms that operates under similar circumstances. To make sure that the suggested methods work, we have put efforts into design of user interfaces and the evaluation of those in user studies.

Ort, förlag, år, upplaga, sidor
Stockholm: KTH Royal Institute of Technology, 2018. s. 58
Serie
TRITA-EECS-AVL ; 2018:26
Nyckelord
Gaussian Processes Robotics UGV Active perception geometric maps
Nationell ämneskategori
Teknik och teknologier
Forskningsämne
Datalogi
Identifikatorer
urn:nbn:se:kth:diva-225957 (URN)978-91-7729-720-8 (ISBN)
Disputation
2018-04-18, F3, Lindstedtsvägen 26, Sing-Sing, floor 2, KTH Campus, Stockholm, 10:00 (Engelska)
Opponent
Handledare
Forskningsfinansiär
EU, FP7, Sjunde ramprogrammet
Anmärkning

QC 20180411

Tillgänglig från: 2018-04-11 Skapad: 2018-04-11 Senast uppdaterad: 2018-04-11Bibliografiskt granskad

Open Access i DiVA

Fulltext saknas i DiVA

Övriga länkar

Förlagets fulltextScopus

Sök vidare i DiVA

Av författaren/redaktören
Caccamo, SergioParasuraman, RamviyasBåberg, FredrikÖgren, Petter
Av organisationen
Datorseende och robotik, CVAPCentrum för Autonoma System, CAS
Datorseende och robotik (autonoma system)

Sök vidare utanför DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetricpoäng

doi
isbn
urn-nbn
Totalt: 133 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf