Hybrid Site Sensing and Human-Multi-Robot Team Collaboration for Disaster Relief at Nuclear Power Plants
Abstract
The main objective of this proposal is to define and examine an advanced human-multi-robot cooperative disaster relief framework which can rapidly assist human crisis intervention and search and rescue (SAR) teams, with an emphasis on nuclear power plants. In the proposed framework, a mobile robot with a hybrid visualization system continuously provides 3D workspace data to other onsite manipulator robots for interpreting the remote environment, creating context-aware inference of user intent, and computing user-aware manipulation plans. Also, this research will develop the technology which rapidly retrofits locally available heavy construction equipment into unmanned teleoperation robots as an immediate disaster relief strategy. In addition, for more efficient object handling and complex lifting tasks, this research will investigate algorithms to dexterously control multiple excavator robots by one operator. The proposed research is anticipated to lead to a robust and scalable framework for human-multi-robot cooperative disaster relief that can be rapidly deployed in response to nuclear power plant disasters and other disasters.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- May 02, 2017
- Source ID
- FA23861714655
Entities
People
- Yong Cho
Organizations
- Air Force Office of Scientific Research
- Georgia Tech Research Corporation
- United States Air Force