Introducing a Scalable and Modular Control Framework for Low-cost Monocular Robots in Hazardous Environments

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Robotics for hazardous environments is currently an important area of research, with the ambition of reducing human risk in potentially devastating situations. Here, we are presenting a Modular Control Framework (MCF) for a low-cost robot with limited sensory resources to address this issue. As a proof of concept, we emulate 3 scenarios - (1) adaptive planning for obstruction avoidance (road block), (2) object identification and support-case-based behaviour adjustment (search and rescue) and (3) autonomous navigation through the environment with reporting of structural status (patrol and monitoring). These were implemented and validated using a Cozmo robot in a small-scale Lego environment. We found that our system can reroute in 90%, can help an injured person 80% and report about failing equipment in 80% of all tested cases, where most of the fails were caused by the object detection used. Our MCF is implemented using ROS, making it easy to use and adjust for other robotic platforms.
Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Pages6421-6426
Number of pages6
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - 27 Jan 2020
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems - Macau, China
Duration: 4 Nov 20198 Nov 2019
https://www.iros2019.org/

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2019
Country/TerritoryChina
CityMacau
Period4/11/198/11/19
Internet address

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