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Athena: An Autonomous Open-Hardware Tracked Rescue Robot Platform
Stefan Fabian, Aljoscha Schmidt, Jonas Süß +3
In disaster response and situation assessment, robots have great potential in reducing the risks to the safety and health of first responders. As the situations encountered and the…
Hector UI: A Flexible Human-Robot User Interface for (Semi-)Autonomous Rescue and Inspection Robots
Stefan Fabian, Oskar von Stryk
The remote human operator's user interface (UI) is an important link to make the robot an efficient extension of the operator's perception and action. In rescue applications, sever…
Efficient Dynamic LiDAR Odometry for Mobile Robots with Structured Point Clouds
Jonathan Lichtenfeld, Kevin Daun, Oskar von Stryk
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on…
Accurate Pose Prediction on Signed Distance Fields for Mobile Ground Robots in Rough Terrain
Martin Oehler, Oskar von Stryk
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-…