Yvan Baudoin

CoRoBa, a multi mobile robot control and simulation framework

This paper describes on-going development of a multi robot control framework named CoRoBa. CoRoBa is theoretically founded by reifying Real Time Design Patterns. It uses CORBA as its communication Middleware and consequently benefits from the interoperability of this standard. A multi-robot 3D simulator written in Java3D integrates seamlessly with this framework. Several demonstration applications have been developed to validate the design and implementation options.

VIEW-FINDER : Robotics assistance to fire-fighting services and Crisis Management

In the event of an emergency due to a fire or other crisis, a necessary but time consuming pre-requisite, that could delay the real rescue operation, is to establish whether the ground or area can be entered safely by human emergency workers. The objective of the VIEW-FINDER project is to develop robots which have the primary task of gathering data. The robots are equipped with sensors that detect the presence of chemicals and, in parallel, image data is collected and forwarded to an advanced Control station (COC). The robots will be equipped with a wide array of chemical sensors, on-board cameras, Laser and other sensors to enhance scene understanding and reconstruction. At the Base Station (BS) the data is processed and combined with geographical information originating from a web of sources; thus providing the personnel leading the operation with in-situ processed data that can improve decision making. This paper will focus on the Crisis Management Information System that has been developed for improving a Disaster Management Action Plan and for linking the Control Station with a out-site Crisis Management Centre, and on the software tools implemented on the mobile robot gathering data in the outdoor area of the crisis.

UAS deployment and data processing during the Balkans flooding

This project paper provides a report on a real relief operation mission, jointly conducted by two European research projects, in response to the massive flooding in the Balkan in spring 2014. Un Unmanned Aerial System was deployed on-site in collaboration with traditional relief workers, to support them with damage assessment, area mapping, visual inspection and re-localizing the many explosive remnants of war which have been moved due to the flooding and landslides. Novel robotic technologies and data processing methodologies were brought from the research labs and directly applied onto the terrain in order to support the relief workers and minimize human suffering.

Robot-Assisted Risky Intervention, Search, Rescue and Environmental Surveillance

Technology has become the solution to many long-standing problems, and while current technologies may be effective, it is far from fully addressing the hug, complex, difficult and challenging tasks associated with disaster missions and risky intervention. The challenge is in finding creative, reliable and applicable technical solutions in such highly constrained and uncertain environment. In addition, it is necessary to overcome constrains on resources by developing innovative, cost effective and practical technology. Robotics can play important intelligent and technological roles that support first response equipment in harsh and dangerous environments while replacing rescue personnel from entering unreachable or unsafe places. Robotics solutions that are well adapted to local conditions of unstructured and unknown environment can greatly improve safety and security of personnel as well as work efficiency, productivity and flexibility. Solving and fulfilling the needs of such tasks presents challenges in robotic mechanical structure and mobility, sensors and sensor fusion, autonomous and semi autonomous control, planning and navigation, and machine intelligence. This paper categorizes the source of disasters and associated missions, and highlights the needs for suitable and reliable technology and technical and functional requirements of robotic systems to fulfill task objectives. In addition, it shows that robotic technologies can be used for disasters prevention or early warning, intervention and recovery efforts during disasters with all possible kinds of relevant missions while ensuring quality of service and safety of human beings. Some of these missions may include: demining, search and rescue, surveillance, reconnaissance and risk assessment, evacuation assistance, intrusion/victim detection and assessment, etc.

An integrated robotic system for antipersonnel mines detection

Abstract In this paper robotic systems for antipersonnel mines detection are presented. Robots with different locomotion principles have been developed to carry mines detection sensors. In this project, many different aspects including mechanics, control and positioning have been addressed. After a short review of the project and a description of the system components, the control and communication architecture of the robotic detection systems is presented. One of the most important issues in this application was the synchronisation of the processes between the microcontrollers and remote computers. The method that has been implemented has proven to be robust and the different systems have been used to acquire very useful data for the research community.

A concept of walking robot for humanitarian demining

Purpose – At present, more than 100 million undetonated landmines left over from wars remain buried worldwide. These mines kill or injure approximately 3,000 individuals each year (80 persons per day), most of them civilians. They represent a particularly acute problem in developing countries and nations already economically hard hit by war. The problem of unexploded mines has become a serious international issue, with many people striving to find a solution. The purpose of this paper is to examine the requirements of the robotic systems for humanitarian demining purposes. It will discuss a hexapod walking robot developed at the Royal Military Academy of Brussels in collaboration with the Free University of Brussels, Belgium, in the framework of the Humanitarian Demining Project (HUDEM).Design/methodology/approach – Considerations for the design of the walking robot according to the humanitarian demining requirements are discussed in detail.Findings – A successful walking robot design for demining purpose...

Robotics for rescue and risky intervention

Robotics can play important roles that support first response recovery equipment in harsh and dangerous environments while assisting response team to accomplish critical and complex tasks at with or at a distance from hazardous situations. Robotics solutions that are well adapted to local conditions of unstructured and unknown environment can greatly improve safety and security of personnel as well as improve work efficiency, productivity flexibility and reducing secondary damage in disaster area. Solving and fulfilling the needs of reconnaissance, rescue and risky intervention presents challenges for robotics. Many researchers tried to develop robotic technologies for disasters prevention or early warning, intervention and recovery efforts during disasters with all possible kinds of relevant missions while ensuring quality of service, safety and security of human. This article discusses the rescue robotics challenge and states its role and the required technical specifications and functionalities. In addition, the paper introduces brief descriptions of selected rescue robotics projects associated with ground, air and sea for harsh and risky environment.

Combining Dense Structure From Motion and Visual SLAM in a Behavior-Based Robot Control Architecture

In this paper, we present a control architecture for an intelligent outdoor mobile robot. This enables the robot to navigate in a complex, natural outdoor environment, relying on only a single on-board camera as sensory input. This is achieved through a twofold analysis of the visual data stream: a dense structure from motion algorithm calculates a depth map of the environment and a visual simultaneous localization and mapping algorithm builds a map of the surroundings using image features. This information enables a behavior-based robot motion and path planner to navigate the robot through the environment. In this paper, we show the theoretical aspects of setting up this architecture.

SLAM for robotic assistance to fire-fighting services

In the event of an emergency, due to a fire or other crisis, a necessary but time consuming pre-requisite, that could delay the real rescue operation, is to establish whether the ground can be entered safely by human emergency workers. The objective of the VIEW-FINDER project is to develop robots which have the primary task of gathering data. The robots are equipped with sensors that detect the presence of chemicals and, in parallel, image data is collected and forwarded to an advanced base station. One of the problems tackled in this project is the robot navigation. The used robot for the outdoor scenario is equipped with a set of sensors: camera, GPS, inertial navigation system (INS), wheel encoders, and ultrasounds sensors. The robot uses a Simultaneous Localization and Mapping (SLAM) approach to combine data from different sensors for an accurate positioning. The paper gives an overview on the proposed algorithm.

Humanitarian demining and robotics

Antipersonnel mines are a pestilence and need to be dealt with as quickly as possible. Unfortunately the techniques that are being used have hardly changed since the Second World War. Many people throughout the world are working to improve or perfect new mine-detectors. Some are also endeavouring to develop mechanical solutions to increase efficiency of detection. In particular, this is the aim of the Robotics Laboratory of the Belgian project HUDEM. Our objective is to develop remote-controlled mobile platforms capable of carrying mine-detectors. We first review the essential features these vehicles have to possess, then explain the choice that have been made, and finally present various ongoing developments.