LiU Electronic Press
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Author:
Kleiner, Alexander (University of Freiburg)
Dornhege, C. (University of Freiburg)
Sun, D. (University of Freiburg)
Title:
Mapping Disaster Areas Jointly: RFID-Coordinated SLAM by Humans and Robots
Publication type:
Conference paper (Refereed)
Language:
English
In:
IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR)
Publisher: IEEE
Pages:
1-6
Year of publ.:
2007
URI:
urn:nbn:se:liu:diva-72542
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72542
ISBN:
978-1-4244-1569-4
Subject category:
Robotics
Project:
Artificial Intelligence & Integrated Computer Systems
Abstract(en) :

We consider the problem of jointly performing SLAM by humans and robots in Urban Search And Rescue (USAR) scenarios. In this context, SLAM is a challenging task. First, places are hardly re-observable by vision techniques since visibility might be affected by smoke and fire. Second, loop-closure is cumbersome due to the fact that firemen will intentionally try to avoid performing loops when facing the reality of emergency response, e.g. while they are searching for victims. Furthermore, there might be places that are only accessible to robots, making it necessary to integrate humans and robots into one team for mapping the area after a disaster. In this paper, we introduce a method for jointly correcting individual trajectories of humans and robots by utilizing RFID technology for data association. Hereby the poses of humans and robots are tracked by a PDR (Pedestrian Dead Reckoning), and slippage sensitive odometry, respectively. We conducted extensive experiments with a team of humans, and a human-robot team within a semi-outdoor environment. Results from these experiments show that the introduced method allows to improve single trajectories based on the joint graph, even if they do not contain any loop.

Available from:
2011-11-29
Created:
2011-11-28
Last updated:
2011-12-06
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