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Search and Rescue (SAR) operations by communication aware autonomous mobile robots

Lehrstuhl: Kommunikationsnetze

Betreuer: Ralf Burda,

Beginn ab: 1.10.2013

Maximale Anzahl der Teilnehmer: 12

Beschreibung:

This project group is concerned with the evaluation and implementation of communication aware control algorithms used by a group of semi-autonomous robots to perform a search and rescue task, e.g. finding a lost person or item by means of a wireless beacon. Similar algorithms have already been designed by CNI and comprise a versatile and flexible simulation and control framework. This framework shall be enhanced and experimentally validated by this PG, using a Pioneer 3DX robot platform.


This PG endeavors to implement a communication aware waypoint planning for a given mobile task. This means that the mobile system should be aware of its communication facilities and should try to avoid communication outages. If this is in conflict with the operation task, the outage should be kept as short as possible and all relevant intermediate telemetry information on the path taken must be safely stored. Stored data is then deliverd to the operation management or other participants at the first possibility when connection is reestablished.

The PG is supposed to prove the success of the implemented algorithms by finding a hidden radio beacon autonomously.
Five different work packages have to be addressed:

  1. Communication aware algorithms which turn wireless network readings to movement commands.

  2. System identification for the mobile platform to obtain mandatory parameters for the waypoint control.

  3. Controller interface design and implementation to bridge the gap between the simulation-control framework and the mobile platform controller.

  4. Obstacle avoidance by support of sonar sensors to implement reactive avoidance of crashes.

  5. Simulator integration to enable the derived solutions as future building blocks of the aforementioned simulation and control framework.


Prerequisites


In the project group programming skills in C/C++ will be necessary to set up and run the experiments. To enable a successful participation, students should have passed the Advanced Engineering Mathematics (AEM), Fundamentals of Robotics (FOR), Computer Systems (CS) and Programming class of the first term in M.Sc. Automation & Robotics. Furthermore, participants should have basic knowledge in wireless communication.

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