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CIHLÁŘ, M. RAICHL, P. GÁBRLÍK, P. JANOUŠEK, J. MARCOŇ, P. ŽALUD, L. LÁZNA, T. MICHENKA, K. NOHEL, J. ŠTEFEK, A.
Originální název
Simulation of Autonomous Robotic System for Intelligence and Reconnaissance Operations
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
angličtina
Originální abstrakt
This paper examines the possibilities of realistic simulations of robotic systems employed for intelligence and reconnaissance operations in the outdoor environment. Including simulation into the development process accelerates and facilitates testing, verification, and evaluation of algorithms, and prevents potential damage of expensive hardware. To achieve fast and flexible development, we utilize a widely used Robotic Operating System (ROS) framework, which, together with Gazebo simulator, enables to deploy robots and test algorithms in both real-world and simulation. Gazebo supports a wide range of customization options, including the creation of own worlds, robots, and sensors. Moreover, the solution allows to deploy a multiple heterogenous robots within one simulation instance to test cooperative missions. To demonstrate the potential of this simulation concept for intelligence operations, we introduce a scenario involving several flying and terrestrial robots during a Chemical, Biological, Radiological, Nuclear, and Explosive (CBRNE) mission comprising a radiation source search. For this purpose, we deployed realistic robotic platforms into the aerial photogrammetry-based 3D world, and, above all, we improved the standard radiation plugin to collect credible data. The results indicate that the concept fulfills requirements for intelligence and reconnaissance robotic operation simulation.
Klíčová slova
Gazebo, mobile robots, ROS, swarm, UGV, UAV
Autoři
CIHLÁŘ, M.; RAICHL, P.; GÁBRLÍK, P.; JANOUŠEK, J.; MARCOŇ, P.; ŽALUD, L.; LÁZNA, T.; MICHENKA, K.; NOHEL, J.; ŠTEFEK, A.
Vydáno
1. 5. 2023
Nakladatel
Springer, Cham
ISBN
978-3-031-31268-7
Kniha
Modelling and Simulation for Autonomous Systems
Edice
MESAS 2022
Číslo edice
13866
ISSN
0302-9743
Periodikum
Lecture Notes in Computer Science
Stát
Spolková republika Německo
Strany od
64
Strany do
73
Strany počet
10
URL
https://link.springer.com/chapter/10.1007/978-3-031-31268-7_4
BibTex
@inproceedings{BUT183994, author="Miloš {Cihlář} and Petr {Raichl} and Petr {Gábrlík} and Jiří {Janoušek} and Petr {Marcoň} and Luděk {Žalud} and Tomáš {Lázna} and Karel {Michenka} and Jan {Nohel} and Alexandr {Štefek}", title="Simulation of Autonomous Robotic System for Intelligence and Reconnaissance Operations", booktitle="Modelling and Simulation for Autonomous Systems", year="2023", series="MESAS 2022", journal="Lecture Notes in Computer Science", number="13866", pages="64--73", publisher="Springer, Cham", doi="10.1007/978-3-031-31268-7\{_}4", isbn="978-3-031-31268-7", issn="0302-9743", url="https://link.springer.com/chapter/10.1007/978-3-031-31268-7_4" }