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

Transcription

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

2 Disaster Is the building still safe? Victims?

3 Todays tools Disaster Is the building still safe? Victims?

4 Disaster Is the building still safe? Victims? Idea: Let the robots inspect the buildings and find victims!

5 Disaster Is the building still safe? Victims? Victim 3 Victim 1 Victim 2

6 Arena YELLOW ARENA ORANGE ARENA RED ARENA

7 Simulated Victim VISUAL IMAGE Signs of life: human form, motion, heat, sound, CO 2 THERMAL IMAGE

8 Arena Elements to Standard Test Methods MAZE NON FLAT FLOORING REMOTE OPERATOR STATION VIDEO AND TRACKING DISPLAYS

9 Yellow Arena

10 Yellow Arena Focus in the yellow arena: - Autonomous exploration and mapping - Autonomous victim detection - Teleop robots may pass it, but cannot score victims Example of a map produced by the team Hector Darmstadt, GER (Mexico City, 2012).

11 Orange Arena

12 Red Arena

13 Black arena: Real disaster

14 Blue Arena - Mobile Manipulation - Directed Perception DIRECTED PERCEPTION TASK ROBOCUPRESCUE TEAM: CEO MISSION II, UNIV. THAI COMMERCE, THAILAND DIRECTED PERCEPTION TEST METHOD DIRECTED PERCEPTION TASK ROBOCUPRESCUE TEAM: JACOBS UNIVERSITY, GERMANY DIRECTED PERCEPTION TEST METHOD

15 Blue Arena - Mobile Manipulation - Grasping Dexterity PICK AND PLACE TASK IN ROBOCUPRESCUE GRASPING DEXTERITY TEST METHOD

16 Air robots

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

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

19 Resquake, K.N. Toosi Univ of Technology, Iran Innovative Operator Interfaces (steering wheel, camera mast joystick, voice commands for preset flipper positions)

20 Desired: Cooperating teams!

21 TEAM: RUGBOT, JACOBS UNIV, GERMANY RoboCupRescue Robot League Innovative Mobility, Sensors, Manipulators, and Interfaces TEAM: RUGBOT, JACOBS UNIV, GERMANY TEAM: RUGBOT, JACOBS UNIV, GERMANY

22 Innovative Mobility, Sensors, Manipulators, and Interfaces TEAM: INDEPENDENT, THAILAND TEAM: NIIT-BLUE, JAPAN TEAM: C-RESCUE, JAPAN TEAM: MRL, IRAN TEAM: CASUALTY, AUSTRALIA

23 Innovative Mobility, Sensors, Manipulators, and Interfaces TEAM: RKRS, BENILDE ST MARGARETS HIGH SCHOOL, USA UNIV. OF BREMEN, GERMANY UNIV. OF BREMEN, GERMANY

24 All RoboCupRescue Leagues 1 junior + 3 senior rescue leagues RoboCupRescue Junior Table size arena, lego size robots Simulation Competition Citywide Logistics Virtual Robot Competition Multiple robots, larger scenarios Real Robot Competition Advanced mobility, mapping on terrains, assistive capabilities

25 Sensors Tips if you want to start 1. Read the rules:

26 2D Laser scanner 2. Get a laser scanner for mapping and localization, e.g. Hokuyo UTM-30LX or UTM-30LX-EW

27 3D Laser scanner 3D Data drivable / not drivable 3. Use 3D perception, e.g. tilting laser scanner, Kinect, ASUS axion

28 2D Laser scanner hector_slam 4. Re-use software: ROS (Robot Operating System)

29 Thermal sensors Thermal camera > 5000 EUR TPA81 8 Pixel Thermal Array Sensor 250 EUR 5. Use heat sensors for victim detection

30 Robots Pioneer 3 AT: TAUROB Tracker Jaguar V4 Mobile Robotic Platform Custom designs 5. Pick/build the right robot for what you want to do

31 Regional Opens China Germany Iran Japan Mexico Netherlands Thailand USA 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 7. Join a competition early to meet the people and to learn from the other teams

32 Johannes Pellenz RoboCup Rescue Exec