RT Conference Proceedings
T1 Remote planning and operation of a UGV through ROS and commercial mobile networks.
A1 Sánchez-Montero, Manuel
A1 Toscano-Moreno, Manuel
A1 Bravo-Arrabal, Juan
A1 Serón-Barba, Javier
A1 Vera-Ortega, Pablo
A1 Vázquez-Martín, Ricardo
A1 Fernández-Lozano, Juan Jesús
A1 Mandow, Anthony
A1 García-Cerezo, Alfonso José
K1 Robots autónomos
K1 Operaciones de búsqueda y rescate - Equipos y material
K1 Vehículos autodirigidos
AB Recent advances in disaster robotics have improved percep-tual intelligence and maneuverability of unmanned ground vehicles (UGV) and aerial (UAV) vehicles for search and rescue (SAR) missions. Nev-ertheless, effective deployment of disaster robots in complex SAR sce-narios poses additional mission-level challenges regarding operation and monitoring. These challenges include building maps for generating safe paths for the robots, designing reliable communication schemes, and in-tegrating the robotic platforms and human responders through a mission control center. In this paper, we address these problems by applying a mission-oriented Internet of robotic things (IoRT) architecture that in-tegrates robots and human agents trough ROS-based communications. This architecture has been validated in a urban SAR scenario from a remote (440 km) mission control center through a commercial mobile network.
PB Springer Nature
YR 2022
FD 2022-11-19
LK https://hdl.handle.net/10630/32480
UL https://hdl.handle.net/10630/32480
LA eng
NO Sánchez-Montero M., Toscano-Moreno M., Bravo-Arrabal J., Serón Barba J., Vera-Ortega P., Vázquez-Martín R., Fernandez-Lozano J.J., Mandow A., García-Cerezo A. (2023)Remote Planning and Operation of a UGV Through ROS and Commercial Mobile Networks.  Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 589. Springer, Cham. https://doi.org/10.1007/978-3-031-21065-5_23
NO This work has been partially funded by the Spanish Ministerio de Ciencia, Innovaci´on y Universidades, Gobierno de España, projects RTI2018-093421-B-I00 and PID2021-122944OB-I00. The long distance experiments were partially funded by Vodafone.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 22 ene 2026