Video ID: Nv014Title: SART Navigaton in Structured and Unstructured Environments

Authors: Sascha Kolski, Kristijan Macek, Dave Ferguson, Roland Siegwart

AbstractRecently, intelligent transportation systems have been introduced for tasks like automated parking and highway driving. This isone of many contact points between human and robot intelligence, in that a human driver is sharing the driving task withintelligent computer systems. In this video we present an automated passenger vehicle that is able to autonomously navigatethrough both structured and unstructured B23environments without relying on prior environmental information or knownwaypoints. The system uses ego motion estimation based on an inertial measurement unit and internal vehicle sensors, andcombines this with a laser range finder to map its environment. It uses a combination of global planning and local planning tosafely navigate through the environment to a desired goal location.

Video ID: v012Title: Real-time Coordination and Control of ultiple Heterogeneous UAVs: The COMETs ProjectAuthors: Simon Lacroix, Jeremi Gancet

AbstractThis video presents a control system that autonomously coordinates and supervises a fleet of heterogeneous UAVs to achievecomplex observation missions. The system is composed of a central planning and monitoring station, and rely on a UAVdecisional architecture that is designed to fit various levels of autonomy. The architecture and its adaptation to various kinds ofUAVs is described, focusing on the role of the UAVs supervisors. A demonstration that illustrates a fire detection, confirmationand monitoring scenario, completed with a mapping task is shown. It involves three UAVs: two helicopters and a blimp, each ofthem being endowed with a supervisor linked to the central station. During the demonstration, the UAVs achieve variousobservation tasks coordinated thanks to their supervisor.

Video ID: O v041Title: Cooperative Damage Inspection with Unmanned Surface Vehicle and Micro Unmanned Aerial

Vehicle at HQurricanrae Wilma

Authors: Robin Murphy, Sam Stover, Kevin Pratt, Chandler Griffin

AbstractOn Oct 24, 2005, Hurricane Wilma made landfall at Cape Romano, Florida. Two days later, the Center for Robot-AssistedSearch and Rescue (CRASAR) deployed an iSENSYS helicopter and an unmanned surface vehicle to survey damage in parts ofMarco Island, 11 miles from landfall. Assistance was provided by the National Science Foundation' s industry/universitycooperative research center on safety security rescue technologies. The AEOS-1 USV was prototype built for environmentalscience studies. It was modified to carry a Sound Metric Dual frequency IDentification SONar (DIDSON). The DIDSON wasable to show the state of underwater structures, schools of small fish swimming, and find the railings from the collapsed sectionof a pier.This work validates the concept of using USVs and UAVs together for disaster response, suggests missions, and priorities forautonomy. Besides damage inspection, USV-UAV teams can find safe lanes of sea travel and to detect hazardous materialsspills. In addition to providing situation awareness, the UAV can serve as a wireless network relay. Inspection of damage toseawalls, docks, and bridges requires vision above the waterline as well as below poses a new type of Simultaneous Localizationand Mapping (SLAM).

IROS2006 Video Digest 9