Collaborative Mapping of an Earthquake Damaged Building via Ground and Aerial Robots - Robotics Institute Carnegie Mellon University

Collaborative Mapping of an Earthquake Damaged Building via Ground and Aerial Robots

Nathan Michael, S. Shen, K. Mohta, V. Kumar, K. Nagatani, Y. Okada, S. Kiribayashi, K. Otake, K. Yoshida, K. Ohno, E. Takeuchi, and S. Tadokoro
Conference Paper, Proceedings of 8th International Conference on Field and Service Robotics (FSR '12), pp. 33 - 47, July, 2012

Abstract

We report recent results from field experiments conducted with a team of ground and aerial robots toward the collaborative mapping of an earthquake damaged building. The goal of the experimental exercise is the generation of 3D maps that capture the layout of the environment and provide insight to the degree of damage inside the building. The experiments take place in the top three floors of a structurally compromised engineering building at Tohoku University in Sendai, Japan that was damaged during the 2011 Tohoku earthquake. We provide details of the approach to the collaborative mapping and report results from the experiments in the form of maps generated by the individual robots and as a team. We conclude by discussing observations from the experiments and future research topics.

BibTeX

@conference{Michael-2012-17115,
author = {Nathan Michael and S. Shen and K. Mohta and V. Kumar and K. Nagatani and Y. Okada and S. Kiribayashi and K. Otake and K. Yoshida and K. Ohno and E. Takeuchi and S. Tadokoro},
title = {Collaborative Mapping of an Earthquake Damaged Building via Ground and Aerial Robots},
booktitle = {Proceedings of 8th International Conference on Field and Service Robotics (FSR '12)},
year = {2012},
month = {July},
pages = {33 - 47},
}