| 研究課題/領域番号 |
20KK0086
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| 研究機関 | 大阪大学 |
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研究代表者 |
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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| 研究分担者 |
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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| 研究期間 (年度) |
2020-10-27 – 2023-03-31
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| キーワード | aerial robot / aquatic robot / seamless transition / multi-legged robot |
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| 研究実績の概要 |
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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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
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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| 今後の研究の推進方策 |
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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| 次年度使用額が生じた理由 |
Due to COVID-19, proposal can not travel abroad to visit institution for performing research.
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