Department of Cybernetics
Mobile Robotics
Simultaneous Localization and Mapping (SLAM) is a basic task of mobile robotics. SLAM using laser range-finder is shown in this movie. Robot moves thru environment, incrementally builds map of its environment and subsequently localizes itself in this partial map. Every new laser scan of the environment(blue points) ,slightly different from previous one (difference is caused by robot's motion) is localized in context of partial map (white points) and new information is added to the map. Method point to point matching is used for localization of the scan in the map.
3D environment mapping is done by robot equipped by two laser range-finders collecting range data of the environment. First laser range-finder was used for localization of the robot and second one was placed perpendicular to floor and measured distances to the walls and furniture. You can see raw localized data as well as some representation more suitable for robotics purposes. 3D occupancy grid is useful for sensor data fusion or path planning. Representation as surface normals is suitable for environment reconstruction for human operators. Triangulation is representation well known from computer graphics.
Multi-Robot Control System Group of mobile robots needs for distributed reasoning:
- ability of communication
- ability of coordination and coordination
- share the knowledge
- share the common goals
Coverage and inspection planning for multi-robot team Task of coverage and inspection problem can be seen as multiple traveling salesmen problem (MTSP). MTSP is mathematical description of the whole class of problems solved in robotics. We try to find way for group of robots to every 'city' be visited by one robot. The length of ways is objective of optimization. Self organizing Kohonen's neuron network with MinMax criterion is used in this approach. Hierarchy is made above the cities. Solution for one set of cities (with less cities) is used as initial state for bigger set. Hierarchical solving significant reduces the computation time with only little deterioration in solution's quality.
PeLoTe - Building Presence through Localization for Hybrid Telematic Systems
PeLoTe experimental system for search & rescue operation support in hybrid telematic teams Human rescuer approaches the operational area. He can see a prior map of the environment in its GUI and expects commands from mission coordinator. Mission coordinator invokes path planning module, which generates trajectories for both the human and robotic entities in a coordinated manner. Path plans are then distributed to all relevant entities and mission can start.
Experimental evaluation of the system performance at fire-fighter training facility Presentation of functionality of robots ER-1 and Merlin as well as Personal Navigation system (PeNa) in professional firefighters' of Wuerzburg training facilities.
Department of Cybernetics, © 1996-2007