7 papers · 1 filter
Lessons from the Field: A Case Study of Robotic Intervention in an Industrial Emergency
Jonathan Lichtenfeld, Frederik Bark, Robert Grafe +1
Incidents in chemical plants can pose a high level of risk and harsh environments for first responders. Contamination and explosion hazards can deny human access to the affected in…
C-ARC: Continuous-Adaptive Range Clustering for Non-Repetitive LiDAR Sensors
Nick B. Schroeder, Jonathan Lichtenfeld, Oskar von Stryk
Real-time LiDAR clustering identifies structures in point clouds, which is an essential prerequisite for many mobile robotics algorithms. Current methods are mostly developed for r…
Athena: An Autonomous Open-Hardware Tracked Rescue Robot Platform
Stefan Fabian, Aljoscha Schmidt, Jonas Süà +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-…