2026-06-02T05:19:10Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/324802026-02-03T12:02:55Zcom_10630_2254col_10630_37959

00925njm 22002777a 4500 dc Sánchez-Montero, Manuel author Toscano-Moreno, Manuel author Bravo-Arrabal, Juan author Serón-Barba, Javier author Vera-Ortega, Pablo author Vázquez-Martín, Ricardo author Fernández-Lozano, Juan Jesús author Mandow, Anthony author García-Cerezo, Alfonso José author 2022-11-19 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. 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 https://hdl.handle.net/10630/32480 10.1007/978-3-031-21065-5_23 Robots autónomos Operaciones de búsqueda y rescate - Equipos y material Vehículos autodirigidos Remote planning and operation of a UGV through ROS and commercial mobile networks.