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Sakagami, Ryo and Brunner, Sebastian and Dömel, Andreas and Wedler, Armin and 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), 29 May - 03 June 2023, London, UK. doi: 10.1109/ICRA48891.2023.10161133. ISBN 979-835032365-8. ISSN 1050-4729.
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Official URL: https://ieeexplore.ieee.org/document/10161133
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/194917/ | ||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||
| Title: | ROSMC: A High-Level Mission Operation Framework for Heterogeneous Robotic Teams | ||||||||||||||||||||||||
| Authors: |
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| Date: | 4 July 2023 | ||||||||||||||||||||||||
| Journal or Publication Title: | 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 | ||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||||||
| DOI: | 10.1109/ICRA48891.2023.10161133 | ||||||||||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||||||||||
| ISSN: | 1050-4729 | ||||||||||||||||||||||||
| ISBN: | 979-835032365-8 | ||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||
| Keywords: | Multi-Robot Systems, Cooperating Robots, Software Tools for Robot Programming, Mission Specification | ||||||||||||||||||||||||
| Event Title: | 40th IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
| Event Location: | London, UK | ||||||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||||||
| Event Dates: | 29 May - 03 June 2023 | ||||||||||||||||||||||||
| Organizer: | IEEE | ||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Intelligent Mobility (RM) [RO] | ||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics | ||||||||||||||||||||||||
| Deposited By: | Sakagami, Ryo | ||||||||||||||||||||||||
| Deposited On: | 02 May 2023 16:41 | ||||||||||||||||||||||||
| Last Modified: | 21 Sep 2023 22:08 |
Available Versions of this Item
- ROSMC: A High-Level Mission Operation Framework for Heterogeneous Robotic Teams. (deposited 02 May 2023 16:41) [Currently Displayed]
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