League Talk Johannes Pellenz RoboCup Rescue Exec Disaster Is the - - PowerPoint PPT Presentation

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Sep 07, 2023 225 likes •550 views

RoboCup Rescue - Robot League League Talk Johannes Pellenz RoboCup Rescue Exec Disaster Is the building still safe? Victims? Disaster Is the building still safe? Victims? Todays tools Disaster Is the building still safe? Victims?

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RoboCup Rescue - Robot League League Talk Johannes Pellenz RoboCup Rescue Exec

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Disaster Is the building still safe? Victims?

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Todays „tools

Disaster Is the building still safe? Victims?

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Idea: Let the robots inspect the buildings and find victims!

Disaster Is the building still safe? Victims?

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Disaster Is the building still safe? Victims?

Victim 1 Victim 2 Victim 3

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RoboCupRescue Robot League Arena

YELLOW ARENA ORANGE ARENA RED ARENA

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RoboCupRescue Robot League Simulated Victim

Signs of life: human form, motion, heat, sound, CO2

THERMAL IMAGE VISUAL IMAGE

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RoboCupRescue Robot League Arena Elements to Standard Test Methods

REMOTE OPERATOR STATION VIDEO AND TRACKING DISPLAYS MAZE NON FLAT FLOORING

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RoboCupRescue Robot League Yellow Arena

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Example of a map produced by the team Hector Darmstadt, GER (Mexico City, 2012).

RoboCupRescue Robot League Yellow Arena

Focus in the yellow arena:

Autonomous exploration and mapping
Autonomous victim detection
Teleop robots may pass it, but cannot

score victims

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RoboCupRescue Robot League Orange Arena

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RoboCupRescue Robot League Red Arena

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RoboCupRescue Robot League

Black arena: Real disaster

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RoboCupRescue Robot League Blue Arena - Mobile Manipulation - Directed Perception

DIRECTED PERCEPTION TEST METHOD DIRECTED PERCEPTION TEST METHOD DIRECTED PERCEPTION TASK ROBOCUPRESCUE DIRECTED PERCEPTION TASK ROBOCUPRESCUE

TEAM: CEO MISSION II, UNIV. THAI COMMERCE, THAILAND TEAM: JACOBS UNIVERSITY, GERMANY

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RoboCupRescue Robot League Blue Arena - Mobile Manipulation - Grasping Dexterity

GRASPING DEXTERITY TEST METHOD PICK AND PLACE TASK IN ROBOCUPRESCUE

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RoboCupRescue Robot League

Air robots

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Plasma-RX, Chulalongkorn University, Thailand 2008: 1st Place Award, 1st Best-In-Class Mobility

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Resko, Univ of Koblenz and Landau, Germany 2008: 1st Best-in-Class Autonomy/Mapping

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Resquake, K.N. Toosi Univ of Technology, Iran Innovative Operator Interfaces

(steering wheel, camera mast joystick, voice commands for preset flipper positions)

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Desired: Cooperating teams!

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RoboCupRescue Robot League Innovative Mobility, Sensors, Manipulators, and Interfaces

TEAM: RUGBOT, JACOBS UNIV, GERMANY TEAM: RUGBOT, JACOBS UNIV, GERMANY TEAM: RUGBOT, JACOBS UNIV, GERMANY

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RoboCupRescue Robot League Innovative Mobility, Sensors, Manipulators, and Interfaces

TEAM: INDEPENDENT, THAILAND TEAM: MRL, IRAN TEAM: NIIT-BLUE, JAPAN TEAM: CASUALTY, AUSTRALIA TEAM: C-RESCUE, JAPAN

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RoboCupRescue Robot League Innovative Mobility, Sensors, Manipulators, and Interfaces

TEAM: RKRS, BENILDE ST MARGARETS HIGH SCHOOL, USA

UNIV. OF BREMEN, GERMANY
UNIV. OF BREMEN, GERMANY

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All RoboCupRescue Leagues 1 junior + 3 senior rescue leagues

Simulation Competition Citywide Logistics Virtual Robot Competition Multiple robots, larger scenarios Real Robot Competition Advanced mobility, mapping on terrains, assistive capabilities RoboCupRescue Junior Table size arena, lego size robots

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RoboCupRescue Robot League Sensors

Tips if you want to start…

1. Read the rules:

http://wiki.robocup.org/wiki/Robot_League#Rules http://wiki.ssrrsummerschool.org/doku.php?id=rrl-rules-2014

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RoboCupRescue Robot League 2D Laser scanner

2. Get a laser scanner for mapping and localization,

e.g. Hokuyo UTM-30LX or UTM-30LX-EW

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3D Data drivable / not drivable RoboCupRescue Robot League 3D Laser scanner

3. Use 3D perception, e.g. tilting laser scanner, Kinect, ASUS axion

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RoboCupRescue Robot League 2D Laser scanner

4. Re-use software:
ROS (Robot Operating System)
http://wiki.ros.org/robocup_rescue

hector_slam

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RoboCupRescue Robot League Thermal sensors

Thermal camera

> 5000 EUR

TPA81 8 Pixel Thermal Array Sensor

250 EUR

5. Use heat sensors for victim detection

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RoboCupRescue Robot League Robots

TAUROB Tracker http://taurob.com/produkte/ugv-taurob-tracker/ Pioneer 3 AT: http://www.mobilerobots.com/ResearchRobots/P3AT.aspx Jaguar V4 Mobile Robotic Platform http://jaguar.drrobot.com/specification_V4.asp Custom designs

5. Pick/build the right robot for what you want to do

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Championships

2001 Seattle, USA
2002 Fukuoka, Japan
2003 Padua, Italy
2004 Lisbon, Portugal
2005 Osaka, Japan
2006 Bremen, Germany
2007 Atlanta, USA
2008 Suzhou, China
2009 Graz, Austria
2010 Singapore
2011 Istanbul, Turkey
2012 Mexico City, Mexico
2013 Eindhoven, Netherlands
2014 João Pessoa, Brazil
2015 China, Hefei
2016 Germany, Leipzig

Regional Opens China Germany Iran Japan Mexico Netherlands Thailand USA

7. Join a competition early

to meet the people and to learn from the other teams

RoboCupRescue Robot League

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