2020 Fiscal Year Research-status Report
Aerial-Terrestrial-Aquatic Robots for Search and Rescue in an ATA Extreme Environment
| Project/Area Number |
20KK0086
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| Research Institution | Osaka University |
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Principal Investigator |
ラサミー ポチャラ 大阪大学, サイバーメディアセンター, 助教 (50772448)
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| Co-Investigator(Kenkyū-buntansha) |
浦西 友樹 大阪大学, サイバーメディアセンター, 准教授 (00533738)
ORLOSKY JASON 大阪大学, サイバーメディアセンター, 特任准教授(常勤) (10815111)
三輪 昌史 徳島大学, 大学院社会産業理工学研究部(理工学域), 准教授 (40283957)
竹村 治雄 大阪大学, サイバーメディアセンター, 教授 (60263430)
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| Project Period (FY) |
2020-10-27 – 2023-03-31
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| Keywords | aerial robot / aquatic robot / seamless transition / multi-legged robot |
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| Outline of Annual Research Achievements |
We have developed ATA-Sensing which is an operating system for helping ATA-Robot localization and mapping in any harsh conditions such as flooded caves. ATA-Sensing's main system is based on a state-of-the-art Visual state estimation package (ORB SLAM2) and our combining method and approximation algorithms to generate maps between aerial and underwater maps. One of the challenges is inferring losing map in the transition mode which is important in several fields such as search and rescue, astronaut, pipeline search, etc. In addition, we show simulation results using Gazebo and experimental results with clear vision underwater to evaluate our methods. Also, we have built an ATA robot prototype for ATA control and ATA interface.
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
Even though the COVID-19 situation, we can not go abroad for performing the experiment as plan, our collaborator supports us to collect the data and developing the algorithm together online. As a result, we can publish our work at the upcoming robotic conference. Also, we have built the first robot prototype and expect it to be tested in June to July.
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| Strategy for Future Research Activity |
Regarding ATA mapping, we are expected to test our robot in the real environment (pool at Kobe fire academy) and for the future at the flooded cave in Japan or Thailand. From this year, we will focus on the control of dynamic reconfiguration of ATA robot and also developing ATA interface for multi-ATA robot operation.
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| Causes of Carryover |
Due to COVID-19, proposal can not travel abroad to visit institution for performing research.
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