Abstract The SIAR platform is a six-wheeled ground robot with differential kinematic configuration and automatic width adjustment developed for the ECHORD++ Challenge on Urban Robotics: “Robots For The Inspection And The Clearance Of The Sewer Network In Cities”. This challenge proposes the development of a wireless robotic platform for long range inspection of large city sewers, which are currently not addressed by commercial solutions. SIAR leverages RGBD data for affordable and high-resolution 3D perception of its surroundings. This information is internally used for robot localization and safe navigation. Moreover, this information is also employed in high-level functionalities such as automatic defect inspection, the detection of serviceability losses and the generation of global 3D reconstructions of the environment. This chapter describes the main software and hardware architecture of the system. It also details the advances made over state-of-the-art techniques in order to take into account the particularities of this environment, i.e., localization in a GPS-denied area, navigation or communications, to name a few. Finally, the chapter presents experimental results on real sewers of Barcelona to demonstrate the reliability and suitability of the proposed solution.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    SIAR: A Ground Robot Solution for Semi-autonomous Inspection of Visitable Sewers


    Beteiligte:
    Alejo, David (Autor:in) / Mier, Gonzalo (Autor:in) / Marques, Carlos (Autor:in) / Caballero, Fernando (Autor:in) / Merino, Luís (Autor:in) / Alvito, Paulo (Autor:in)


    Erscheinungsdatum :

    2019-09-18


    Format / Umfang :

    22 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    SIAR: an autonomous ground robot for sewer inspection

    Alejo, David / Marques, Carlos / Caballero-Benı́tez, Fernando et al. | TIBKAT | 2016


    Towards autonomous inspection of concrete deterioration in sewers with legged robots

    Kolvenbach, H / Wisth, D / Buchanan, R et al. | BASE | 2020

    Freier Zugriff

    Air-ground integrated inspection robot

    YU KUNYU / QIN BO / CHEN LONG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    A ground semi-physical simulator for satellite autonomous rendezvous and space robot capture

    Weinan Xie, / Guangcheng Ma, / Qiyong Wen, et al. | IEEE | 2006


    Autonomous Walking Inspection and Maintenance Robot (AWIMR)

    Lane, Hobson / Hanson, Mark / Kennedy, Brett et al. | Tema Archiv | 2005