KFU. Card publication. Pilot communication protocols for group of mobile robots in usar scenarios

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

PILOT COMMUNICATION PROTOCOLS FOR GROUP OF MOBILE ROBOTS IN USAR SCENARIOS

Form of presentation

Articles in international journals and collections

Year of publication

2019

Язык

английский

Authors, employees of KFU

Lavrenov Roman Olegovich, author

Bibliographic description in the original language

Pashkin A, Lavrenov R, Zakiev A, Pilot communication protocols for group of mobile robots in usar scenarios//Proceedings - International Conference on Developments in eSystems Engineering, DeSE. - 2019. - Vol.October-2019, Is.. - P.37-41.

Annotation

This paper describes process of development of communication protocol for group of mobile robots in Urban Search and Rescue (USAR) operations based on wireless technology and Robot Operating System framework. During this work cases of mobile robot's usage in USAR as well as modern worldwide researches in this area were studied and it was found out that one of the main issues with mobile robot usage in such situation is communication problem. Disasters typically destroy communication infrastructure and rescuers forced to use workarounds to be able to still use robots. Based on these studies goal for the paper has been set – to develop communication protocol that allows robots to communicate and exchange data with minimal human interference. To achieve this goal multiple types of communication technologies were analyzed and Bluetooth was chosen based on qualities most suited for this task. After that list of commands needed for USAR was combined and three of them (Follow, Stop, MoveAround) were chosen to be implemented during this research. Testing environment was created in simulator Gazebo with three TurtleBot robots to verify execution of developed command. Finally, commands and command handler were implemented and tested on robots in created testing environment by using trial scenarios.

Keywords

USAR, communication protocol, mobile robots, ROS, Bluetooth

The name of the journal

Proceedings - International Conference on Developments in eSystems Engineering, DeSE

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85084405218&doi=10.1109%2fDeSE.2019.00017&partnerID=40&md5=6d3ed70403452d38049b814da987b6cb

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=232742&p_lang=2

Resource files

File name	Size (MB)	Format
F_Pilot_communication_protocols.pdf	0,54	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.date.accessioned	2019-01-01T00:00:00Z	ru_RU
dc.date.available	2019-01-01T00:00:00Z	ru_RU
dc.date.issued	2019	ru_RU
dc.identifier.citation	Pashkin A, Lavrenov R, Zakiev A, Pilot communication protocols for group of mobile robots in usar scenarios//Proceedings - International Conference on Developments in eSystems Engineering, DeSE. - 2019. - Vol.October-2019, Is.. - P.37-41.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=232742&p_lang=2	ru_RU
dc.description.abstract	Proceedings - International Conference on Developments in eSystems Engineering, DeSE	ru_RU
dc.description.abstract	This paper describes process of development of communication protocol for group of mobile robots in Urban Search and Rescue (USAR) operations based on wireless technology and Robot Operating System framework. During this work cases of mobile robot's usage in USAR as well as modern worldwide researches in this area were studied and it was found out that one of the main issues with mobile robot usage in such situation is communication problem. Disasters typically destroy communication infrastructure and rescuers forced to use workarounds to be able to still use robots. Based on these studies goal for the paper has been set – to develop communication protocol that allows robots to communicate and exchange data with minimal human interference. To achieve this goal multiple types of communication technologies were analyzed and Bluetooth was chosen based on qualities most suited for this task. After that list of commands needed for USAR was combined and three of them (Follow, Stop, MoveAround) were chosen to be implemented during this research. Testing environment was created in simulator Gazebo with three TurtleBot robots to verify execution of developed command. Finally, commands and command handler were implemented and tested on robots in created testing environment by using trial scenarios.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	USAR	ru_RU
dc.subject	communication protocol	ru_RU
dc.subject	mobile robots	ru_RU
dc.subject	ROS	ru_RU
dc.subject	Bluetooth	ru_RU
dc.title	Pilot communication protocols for group of mobile robots in usar scenarios	ru_RU
dc.type	Articles in international journals and collections	ru_RU