Abstract
Abstract. In this paper we are presenting work done within the joint development project ANKommEn. It deals with the development of a highly automated robotic system for fast data acquisition in civil disaster scenarios. One of the main requirements is a versatile system, hence the concept embraces a machine cluster consisting of multiple fundamentally different robotic platforms. To cover a large variety of potential deployment scenarios, neither the absolute amount of participants, nor the precise individual layout of each platform shall be restricted within the conceptual design. Thus leading to a variety of special requirements, like onboard and online data processing capabilities for each individual participant and efficient data exchange structures, allowing reliable random data exchange between individual robots. We are demonstrating the functionality and performance by means of a distributed mapping system evaluated with real world data in a challenging urban and rural indoor/outdoor scenarios.
Highlights
Administrated by the Space Administration of the DLR - a prototypical system, consisting of two Unmanned Ground Vehicles (UGV), which are perfect suitable to carry out tasks like e.g. long term exploration in indoor like scenarios, and three Unmanned Aerial Vehicles (UAV), which are able to cover long distances in exploring spacious terrain scenarios e.g. for generating three dimensional elevation models of the environment
In this paper we want to demonstrate the performance of our design and special implementations by means of a distributed Multi Robot LIDAR Mapping System
The mapping system is capable of mapping large scale mixed indoor / outdoor scenarios in structured and unstructured environments
Summary
Frerichsa a Institute of Mobile Machines and Commercial Vehicles, Technische Universitat Braunschweig, Germany -
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