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An experiment on squad navigation of human and robots. IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance. L. Nomdedeu, J. Sales, E. Cervera, J. Alemany, R. Sebastia, J. Penders, V. Gazi. January 7th-8th, 2008 - Benicàssim (Spain). Overview. Introduction - PowerPoint PPT Presentation
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An experiment on squad navigation of human and robots
IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance
January 7th-8th, 2008 - Benicàssim (Spain)
L. Nomdedeu, J. Sales, E. Cervera, J. Alemany,R. Sebastia, J. Penders, V. Gazi
Overview
• Introduction
• System configuration
• Implementation
• The experiment
• Conclusion and future work
Introduction: motivation
• Experiment: a set of robots (acting as a swarm) and one person.
• The aim of robot-human squad: to explore an indoors area.
• Fire-fighters: – no sensing capabilities– no map of the building
Introduction: statement of the problem
• Our system must be able to integrate:– Exploration and obstacle avoidance– Following the human and localizing itself
• Pose problem:– Tracking the human with the escorts lasers– Providing him with an accelerometer-
gyroscope-magnetometer (IMU)
Introduction: related work
• Laser range finders:– To find and track humans– Detecting multiple moving objects, multiple humans
• Video data:– lack of visibility
• Localization, obstacle avoidance, path-planning– Adaptive Monte Carlo Localization Plus– Vector Field Histogram (VFH)– Nearness Diagram (ND)
System configuration: HW setup
• Robots: mobile commercial platform Erratic from Videre-design– lasers readings, – encoder data,– sonar data,– imu data
System configuration: HW setup
• Fire-fighter: laptop along with an imu sensor
System configuration: SW setup
• Laptop will provide the fire-fighter – an estimation of his own pose– a new orientation and velocity to take
• Three roles in our
human-robot system
System configuration: SW setup
• Logical scheme of the system
Implementation: SW architecture
• Hardware Abstraction Layer (HAL) provided by the Player platform.
Implementation: tracking
• Human being localization through only the laser rangefinder data
(,r): polar coordinates of the fire-fighter centroid
: threshold of distance
: angle of the reading
Implementation: tracking
Implementation: tracking
• Estimated global position and velocity of the fire-fighter: – Relative fire-fighter position and velocity– Robot’s own estimated position
and velocity.
• Formation rules:
The experiment
• Partially tested in simulation• Robots guiding the
human through our department
• Human: only laptop information
• Collision free path• Occlusions along
the path
Conclusion and future work
• We have validated the use of mobile platforms in hazardous environments as a support for human beings
• More robustness can be implemented:– Supporting more unstructured environments– Improving system reliability– Improving pose fusion and prediction– Online SLAM approach– Full Human Augmented Mapping (HAM) system