Towards Semi-autonomous Robotic Inspection and Mapping in Confined Spaces with the EspeleoRobô
Autonomous mobile devices operating in confined environments, such as pipes, underground tunnel systems, and cave networks, face multiple open challenges from the robotics perspective. Those challenges, such as mobility, localization, and mapping in GPS denied scenarios, are receiving particular att...
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Veröffentlicht in: | Journal of intelligent & robotic systems 2021-04, Vol.101 (4), Article 69 |
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creator | Azpúrua, Héctor Rezende, Adriano Potje, Guilherme Júnior, Gilmar Pereira da Cruz Fernandes, Rafael Miranda, Victor Filho, Levi Welington de Resende Domingues, Jacó Rocha, Filipe de Sousa, Frederico Luiz Martins de Barros, Luiz Guilherme Dias Nascimento, Erickson R. Macharet, Douglas G. Pessin, Gustavo Freitas, Gustavo M. |
description | Autonomous mobile devices operating in confined environments, such as pipes, underground tunnel systems, and cave networks, face multiple open challenges from the robotics perspective. Those challenges, such as mobility, localization, and mapping in GPS denied scenarios, are receiving particular attention from the academy and industry. One example is the Brazilian mining company Vale S.A., which is employing a robot – EspeleoRobô (SpeleoRobot) – to access restricted and dangerous areas for human workers. The EspeleoRobô is a robot initially designed for natural cave inspection during teleoperated missions. It is now being used to monitor other types of confined environments, such as dam galleries and other restrained or dangerous areas. This paper describes the platform in its current version and the pipeline used for semi-autonomous inspection in confined environments. The pipeline includes photorealistic mapping techniques, Simultaneous Localization and Mapping (SLAM) with LiDAR, path planning based on mobility optimization, and navigation control using vector fields to reduce operator dependency of the robot operation. The proposed concept was validated in simulations with a realistic underground tunnel system and in representative real-world scenarios. The results endorse the viability of using the proposed concept for real deployments. |
doi_str_mv | 10.1007/s10846-021-01321-5 |
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Those challenges, such as mobility, localization, and mapping in GPS denied scenarios, are receiving particular attention from the academy and industry. One example is the Brazilian mining company Vale S.A., which is employing a robot – EspeleoRobô (SpeleoRobot) – to access restricted and dangerous areas for human workers. The EspeleoRobô is a robot initially designed for natural cave inspection during teleoperated missions. It is now being used to monitor other types of confined environments, such as dam galleries and other restrained or dangerous areas. This paper describes the platform in its current version and the pipeline used for semi-autonomous inspection in confined environments. The pipeline includes photorealistic mapping techniques, Simultaneous Localization and Mapping (SLAM) with LiDAR, path planning based on mobility optimization, and navigation control using vector fields to reduce operator dependency of the robot operation. The proposed concept was validated in simulations with a realistic underground tunnel system and in representative real-world scenarios. The results endorse the viability of using the proposed concept for real deployments.</description><identifier>ISSN: 0921-0296</identifier><identifier>EISSN: 1573-0409</identifier><identifier>DOI: 10.1007/s10846-021-01321-5</identifier><language>eng</language><publisher>Dordrecht: Springer Netherlands</publisher><subject>Artificial Intelligence ; Confined spaces ; Control ; Electrical Engineering ; Electronic devices ; Engineering ; Fields (mathematics) ; Inspection ; Localization ; Mechanical Engineering ; Mechatronics ; Mobile devices ; Optical radar ; Optimization ; Path planning ; Regular Paper ; Robotics ; Robots ; Simultaneous localization and mapping ; Topical Collection on ICAR 2019 Special Issue ; Tunnels ; Underground caverns</subject><ispartof>Journal of intelligent & robotic systems, 2021-04, Vol.101 (4), Article 69</ispartof><rights>The Author(s), under exclusive licence to Springer Nature B.V. 2021</rights><rights>COPYRIGHT 2021 Springer</rights><rights>The Author(s), under exclusive licence to Springer Nature B.V. 2021.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c358t-294bf99baf2d61aff74148997cd5a632a3b9a3944be3fad1111b32dde540982d3</citedby><cites>FETCH-LOGICAL-c358t-294bf99baf2d61aff74148997cd5a632a3b9a3944be3fad1111b32dde540982d3</cites><orcidid>0000-0002-4182-2540</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s10846-021-01321-5$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s10846-021-01321-5$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,777,781,27905,27906,41469,42538,51300</link.rule.ids></links><search><creatorcontrib>Azpúrua, Héctor</creatorcontrib><creatorcontrib>Rezende, Adriano</creatorcontrib><creatorcontrib>Potje, Guilherme</creatorcontrib><creatorcontrib>Júnior, Gilmar Pereira da Cruz</creatorcontrib><creatorcontrib>Fernandes, Rafael</creatorcontrib><creatorcontrib>Miranda, Victor</creatorcontrib><creatorcontrib>Filho, Levi Welington de Resende</creatorcontrib><creatorcontrib>Domingues, Jacó</creatorcontrib><creatorcontrib>Rocha, Filipe</creatorcontrib><creatorcontrib>de Sousa, Frederico Luiz Martins</creatorcontrib><creatorcontrib>de Barros, Luiz Guilherme Dias</creatorcontrib><creatorcontrib>Nascimento, Erickson R.</creatorcontrib><creatorcontrib>Macharet, Douglas G.</creatorcontrib><creatorcontrib>Pessin, Gustavo</creatorcontrib><creatorcontrib>Freitas, Gustavo M.</creatorcontrib><title>Towards Semi-autonomous Robotic Inspection and Mapping in Confined Spaces with the EspeleoRobô</title><title>Journal of intelligent & robotic systems</title><addtitle>J Intell Robot Syst</addtitle><description>Autonomous mobile devices operating in confined environments, such as pipes, underground tunnel systems, and cave networks, face multiple open challenges from the robotics perspective. Those challenges, such as mobility, localization, and mapping in GPS denied scenarios, are receiving particular attention from the academy and industry. One example is the Brazilian mining company Vale S.A., which is employing a robot – EspeleoRobô (SpeleoRobot) – to access restricted and dangerous areas for human workers. The EspeleoRobô is a robot initially designed for natural cave inspection during teleoperated missions. It is now being used to monitor other types of confined environments, such as dam galleries and other restrained or dangerous areas. This paper describes the platform in its current version and the pipeline used for semi-autonomous inspection in confined environments. The pipeline includes photorealistic mapping techniques, Simultaneous Localization and Mapping (SLAM) with LiDAR, path planning based on mobility optimization, and navigation control using vector fields to reduce operator dependency of the robot operation. The proposed concept was validated in simulations with a realistic underground tunnel system and in representative real-world scenarios. The results endorse the viability of using the proposed concept for real deployments.</description><subject>Artificial Intelligence</subject><subject>Confined spaces</subject><subject>Control</subject><subject>Electrical Engineering</subject><subject>Electronic devices</subject><subject>Engineering</subject><subject>Fields (mathematics)</subject><subject>Inspection</subject><subject>Localization</subject><subject>Mechanical Engineering</subject><subject>Mechatronics</subject><subject>Mobile devices</subject><subject>Optical radar</subject><subject>Optimization</subject><subject>Path planning</subject><subject>Regular Paper</subject><subject>Robotics</subject><subject>Robots</subject><subject>Simultaneous localization and mapping</subject><subject>Topical Collection on ICAR 2019 Special Issue</subject><subject>Tunnels</subject><subject>Underground 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Filipe</au><au>de Sousa, Frederico Luiz Martins</au><au>de Barros, Luiz Guilherme Dias</au><au>Nascimento, Erickson R.</au><au>Macharet, Douglas G.</au><au>Pessin, Gustavo</au><au>Freitas, Gustavo M.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Towards Semi-autonomous Robotic Inspection and Mapping in Confined Spaces with the EspeleoRobô</atitle><jtitle>Journal of intelligent & robotic systems</jtitle><stitle>J Intell Robot Syst</stitle><date>2021-04-01</date><risdate>2021</risdate><volume>101</volume><issue>4</issue><artnum>69</artnum><issn>0921-0296</issn><eissn>1573-0409</eissn><abstract>Autonomous mobile devices operating in confined environments, such as pipes, underground tunnel systems, and cave networks, face multiple open challenges from the robotics perspective. Those challenges, such as mobility, localization, and mapping in GPS denied scenarios, are receiving particular attention from the academy and industry. One example is the Brazilian mining company Vale S.A., which is employing a robot – EspeleoRobô (SpeleoRobot) – to access restricted and dangerous areas for human workers. The EspeleoRobô is a robot initially designed for natural cave inspection during teleoperated missions. It is now being used to monitor other types of confined environments, such as dam galleries and other restrained or dangerous areas. This paper describes the platform in its current version and the pipeline used for semi-autonomous inspection in confined environments. The pipeline includes photorealistic mapping techniques, Simultaneous Localization and Mapping (SLAM) with LiDAR, path planning based on mobility optimization, and navigation control using vector fields to reduce operator dependency of the robot operation. The proposed concept was validated in simulations with a realistic underground tunnel system and in representative real-world scenarios. The results endorse the viability of using the proposed concept for real deployments.</abstract><cop>Dordrecht</cop><pub>Springer Netherlands</pub><doi>10.1007/s10846-021-01321-5</doi><orcidid>https://orcid.org/0000-0002-4182-2540</orcidid></addata></record> |
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subjects | Artificial Intelligence Confined spaces Control Electrical Engineering Electronic devices Engineering Fields (mathematics) Inspection Localization Mechanical Engineering Mechatronics Mobile devices Optical radar Optimization Path planning Regular Paper Robotics Robots Simultaneous localization and mapping Topical Collection on ICAR 2019 Special Issue Tunnels Underground caverns |
title | Towards Semi-autonomous Robotic Inspection and Mapping in Confined Spaces with the EspeleoRobô |
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