Download PDF by Ortiz Zaragoza, Francisco José; Alonso Cáceres, Diego;: A reference control architecture for service robots

By Ortiz Zaragoza, Francisco José; Alonso Cáceres, Diego; Pastor Franco, Juan Ángel; Álvarez Torres, María Bárbara; Iborra García, Andrés José

ISBN-10: 3902613114

ISBN-13: 9783902613110

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Extra info for A reference control architecture for service robots implemented on a climbing vehicle

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The MILmine project was established to investigate the feasibility of utilizing an autonomous robot to detect and mark landmines in a possible safe and accurate manner (See Fig. 17). MILmine was built and tested at the University of Florida at the Machine Intelligence Lab (MIL). Mine detection was considered through the use of a Schiebel AN-19/2 as a NATO-approved mine detector head, and the marking of mines is accomplished through the use of spray paint when the robot declares the detection of a landmine.

Remote control capability combined with a differential GPS subsystem and onboard cameras enable the system to navigate within a minefield to locations of previously marked mines. Mines or suspicious objects already marked or identified with GPS coordinates can be checked and confirmed with an on-board commercial detector, and then excavated with a modified commercial backhoe, an air knife, excavation bucket, or gripper attachment. ETODS was developed and configured for the US DoD humanitarian demining research and development Program starting in 1995.

Fig. 17. 5 FETCH II The Fetch program is sponsored by the Naval Explosive Ordnance Disposal Technology Division and aims to develop a team of low cost robotic mine hunters that will provide rapid and complete coverage of a mine field. It is being developed by IS robotics. The first phase aims to develop a principal swarm robot structure. The robot features advanced computational and mechanical components, yet are designed for low-cost duplication. The second phase aims to enable these robots to cooperatively clear a field of landmines under the supervision of a single operator.

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A reference control architecture for service robots implemented on a climbing vehicle by Ortiz Zaragoza, Francisco José; Alonso Cáceres, Diego; Pastor Franco, Juan Ángel; Álvarez Torres, María Bárbara; Iborra García, Andrés José


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