Detail publikace

Multi-Robotic Area Exploration for Environmental Protection

LÁZNA, T. JÍLEK, T. GÁBRLÍK, P. ŽALUD, L.

Originální název

Multi-Robotic Area Exploration for Environmental Protection

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

The paper discusses methods allowing a multi-robotic system to perform fully autonomous exploration and mapping of a defined area. The output of the operating cycle is a 3D map of the given area including relevant environmental parameters, or, in our case, the intensity of gamma radiation. The main motivation behind the scheme characterized herein arises from the intensive demand within Industry 4.0 for autonomous area-guarding around key industrial objects, such as nuclear power plants, chemical facilities, and hi-tech factories. The actual approach is demonstrated on an ATEROS (Autonomous Telepresence Robotic System) developed by our research team; the concept is highly versatile, and we believe it can be used in wide spectrum of multi-agent robotic systems. We describe the task of aerial 3D mapping through a light unmanned aerial vehicle (UAV), complemented with the ground mapping of the gamma radiation intensities; in more general terms, the assignment can be referred to as radiation source search through an unmanned ground vehicle (UGV). All the data have to be geo-referenced to form an applicable output.

Klíčová slova

Mobile robot, UAV, UGV, gamma radiation, localization, aerial mapping, self-localization, navigation, robot cooperation

Autoři

LÁZNA, T.; JÍLEK, T.; GÁBRLÍK, P.; ŽALUD, L.

Vydáno

1. 8. 2017

Nakladatel

Springer, Cham

ISBN

978-3-319-64634-3

Kniha

Industrial Applications of Holonic and Multi-Agent Systems

ISSN

0302-9743

Periodikum

Lecture Notes in Computer Science

Ročník

10444

Stát

Spolková republika Německo

Strany od

240

Strany do

254

Strany počet

15

URL

https://link.springer.com/chapter/10.1007/978-3-319-64635-0_18

BibTex

@inproceedings{BUT139202,
  author="Tomáš {Lázna} and Tomáš {Jílek} and Petr {Gábrlík} and Luděk {Žalud}",
  title="Multi-Robotic Area Exploration for Environmental Protection",
  booktitle="Industrial Applications of Holonic and Multi-Agent Systems",
  year="2017",
  journal="Lecture Notes in Computer Science",
  volume="10444",
  pages="240--254",
  publisher="Springer, Cham",
  doi="10.1007/978-3-319-64635-0\{_}18",
  isbn="978-3-319-64634-3",
  issn="0302-9743",
  url="https://link.springer.com/chapter/10.1007/978-3-319-64635-0_18"
}