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Sakagami, Ryo und Brunner, Sebastian und Dömel, Andreas und Wedler, Armin und Stulp, Freek (2023) ROSMC: A High-Level Mission Operation Framework for Heterogeneous Robotic Teams. In: 2023 IEEE International Conference on Robotics and Automation, ICRA 2023. IEEE. 40th IEEE International Conference on Robotics and Automation (ICRA), 2023-05-29 - 2023-06-03, London, UK. doi: 10.1109/ICRA48891.2023.10161133. ISBN 979-835032365-8. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/10161133
Kurzfassung
Heterogeneous teams of multiple mobile robots will be important for future scientific explorations of extraterrestrial surfaces or hazardous areas. Mission operation in such harsh, unknown environments poses diverse challenges. Robots need to cooperate autonomously due to the large network latency to the ground station while operators need to adapt the ongoing mission flexibly based on new discoveries obtained during execution. Furthermore, shared situational awareness between operators and roboticists is highly required to deal with execution failures promptly. To overcome these challenges, this paper proposes the high-level mission operation framework ROSMC. The concept of mission synchronization to robots enables continuous mission adaptations and future planning by operators while robots execute the mission autonomously. The ROS-based GUIs enable operators to intuitively create and monitor the mission for robots as well as to communicate with roboticists smoothly. The proposed framework was evaluated by a pilot study with a simulator and demonstrated at a Moon-analogue field on Mt. Etna in Sicily, Italy, involving 3 robots and around 70 researchers for 4 weeks.
| elib-URL des Eintrags: | https://elib.dlr.de/194917/ | ||||||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
| Titel: | ROSMC: A High-Level Mission Operation Framework for Heterogeneous Robotic Teams | ||||||||||||||||||||||||
| Autoren: |
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| Datum: | 4 Juli 2023 | ||||||||||||||||||||||||
| Erschienen in: | 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 | ||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||||||
| DOI: | 10.1109/ICRA48891.2023.10161133 | ||||||||||||||||||||||||
| Verlag: | IEEE | ||||||||||||||||||||||||
| ISSN: | 1050-4729 | ||||||||||||||||||||||||
| ISBN: | 979-835032365-8 | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | Multi-Robot Systems, Cooperating Robots, Software Tools for Robot Programming, Mission Specification | ||||||||||||||||||||||||
| Veranstaltungstitel: | 40th IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
| Veranstaltungsort: | London, UK | ||||||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
| Veranstaltungsbeginn: | 29 Mai 2023 | ||||||||||||||||||||||||
| Veranstaltungsende: | 3 Juni 2023 | ||||||||||||||||||||||||
| Veranstalter : | IEEE | ||||||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
| HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Intelligente Mobilität (RM) [RO] | ||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Kognitive Robotik | ||||||||||||||||||||||||
| Hinterlegt von: | Sakagami, Ryo | ||||||||||||||||||||||||
| Hinterlegt am: | 02 Mai 2023 16:41 | ||||||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:55 |
Verfügbare Versionen dieses Eintrags
- ROSMC: A High-Level Mission Operation Framework for Heterogeneous Robotic Teams. (deposited 02 Mai 2023 16:41) [Gegenwärtig angezeigt]
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