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oapen-20.500.12657-492002021-11-23T13:58:50Z Chapter Interoperability in a Heterogeneous Team of Search and Rescue Robots Dias, André Rudin, Konrad Serrano López, Daniel Martins, Alfredo Bueno Cordero, José Matos, Anibal Bedkowski, Janusz Moreno, German Grati, Alberto De Cubber, Geert Monteiro Marques, Mario Sanchez, Jose Fioravanti, Stefano Govindaraj, Shashank Lobo, Victor Tosa, Massimo interoperability, multi‐robot collaboration bic Book Industry Communication::J Society & social sciences::JK Social services & welfare, criminology::JKS Social welfare & social services::JKSW Emergency services::JKSW3 Ambulance & rescue services Search and rescue missions are complex operations. A disaster scenario is generally unstructured, time‐varying and unpredictable. This poses several challenges for the successful deployment of unmanned technology. The variety of operational scenarios and tasks lead to the need for multiple robots of different types, domains and sizes. A priori planning of the optimal set of assets to be deployed and the definition of their mission objectives are generally not feasible as information only becomes available during mission. The ICARUS project responds to this challenge by developing a heterogeneous team composed by different and complementary robots, dynamically cooperating as an interoperable team. This chapter describes our approach to multi‐robot interoperability, understood as the ability of multiple robots to operate together, in synergy, enabling multiple teams to share data, intelligence and resources, which is the ultimate objective of ICARUS project. It also includes the analysis of the relevant standardization initiatives in multi‐robot multi‐domain systems, our implementation of an interoperability framework and several examples of multi‐robot cooperation of the ICARUS robots in realistic search and rescue missions. 2021-06-02T10:09:17Z 2021-06-02T10:09:17Z 2017 chapter ONIX_20210602_10.5772/intechopen.69493_314 https://library.oapen.org/handle/20.500.12657/49200 eng application/pdf n/a 56126.pdf InTechOpen 10.5772/intechopen.69493 10.5772/intechopen.69493 09f6769d-48ed-467d-b150-4cf2680656a1 FP7-SEC-2011-1 285417 open access
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Search and rescue missions are complex operations. A disaster scenario is generally unstructured, time‐varying and unpredictable. This poses several challenges for the successful deployment of unmanned technology. The variety of operational scenarios and tasks lead to the need for multiple robots of different types, domains and sizes. A priori planning of the optimal set of assets to be deployed and the definition of their mission objectives are generally not feasible as information only becomes available during mission. The ICARUS project responds to this challenge by developing a heterogeneous team composed by different and complementary robots, dynamically cooperating as an interoperable team. This chapter describes our approach to multi‐robot interoperability, understood as the ability of multiple robots to operate together, in synergy, enabling multiple teams to share data, intelligence and resources, which is the ultimate objective of ICARUS project. It also includes the analysis of the relevant standardization initiatives in multi‐robot multi‐domain systems, our implementation of an interoperability framework and several examples of multi‐robot cooperation of the ICARUS robots in realistic search and rescue missions.
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