RoboCupRescue - Robot League Team RescueRobots Freiburg (Germany)
Conference paper (Refereed)
RoboCup 2005 (CDROM Proceedings), Team Description Paper, Rescue Robot League
Artificial Intelligence & Integrated Computer Systems
This paper describes the approach of the RescueRobots Freiburg team. RescueRobots Freiburg is a team of students from the university of Freiburg, that originates from the former CS Freiburg team (RoboCupSoccer) and the ResQ Freiburg team (RoboCupRescue Simulation). Due to the high versatility of the RoboCupRescue competition we tackle the three arenas by a a twofold approach: On the one hand we want to introduce robust vehicles that can safely be teleoperated through rubble and building debris while constructing three-dimensional maps of the environment. On the other hand we want to introduce a team of autonomous robots that quickly explore a large terrain while building a two-dimensional map. This two solutions are particularly well-suited for the red and yellow arena, respectively. Our solution for the orange arena will finally be decided between these two, depending on the capabilities of both approaches at the venue. In this paper, we introduce some preliminary results that we achieved so far from map building, localization, and autonomous victim identification. Furthermore we introduce a custom made 3D Laser Range Finder (LRF) and a novel mechanism for the active distribution of RFID tags.
(1st place in the autonomy competition, 4th place in the teleoperation competition)