面向未来的灵活灾害响应——CENTAURO系统的最终展示与评估
机器人学
2019-09-20 v1
摘要
移动操作机器人在支持灾害响应任务中的救援力量方面具有很高潜力。尽管真实场景带来诸多困难，机器人有望从安全距离执行任务。在CENTAURO项目中，我们开发了一套灾害响应系统，由高灵活性的Centauro机器人与合适的控制接口组成，包括沉浸式远程临场套装与不同自主层级上的支援操作员控制。本文给出最终CENTAURO系统的概览。特别地，我们阐释了若干高层设计决策，以及这些决策如何源自德国卡尔斯鲁厄核技术救援服务公司（KHG）的需求与丰富经验。我们聚焦于近期集成的组件，并报告一项系统评估，该评估展示了系统能力并揭示了宝贵见解。
引用
@article{arxiv.1909.08812,
title = {Flexible Disaster Response of Tomorrow -- Final Presentation and Evaluation of the CENTAURO System},
author = {Tobias Klamt and Diego Rodriguez and Lorenzo Baccelliere and Xi Chen and Domenico Chiaradia and Torben Cichon and Massimiliano Gabardi and Paolo Guria and Karl Holmquist and Malgorzata Kamedula and Hakan Karaoguz and Navvab Kashiri and Arturo Laurenzi and Christian Lenz and Daniele Leonardis and Enrico Mingo Hoffman and Luca Muratore and Dmytro Pavlichenko and Francesco Porcini and Zeyu Ren and Fabian Schilling and Max Schwarz and Massimiliano Solazzi and Michael Felsberg and Antonio Frisoli and Michael Gustmann and Patric Jensfelt and Klas Nordberg and Jürgen Roßmann and Uwe Süss and Nikos G. Tsagarakis and Sven Behnke},
journal= {arXiv preprint arXiv:1909.08812},
year = {2019}
}
备注
Accepted for IEEE Robotics and Automation Magazine (RAM), to appear December 2019