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EXPLORATION AND MAPPING OF ANCIENT UNDERGROUND TUNNELS WITH A HETEROGENEOUS ROBOT TEAM

Savran, Dogan, Tuna, Gurkan

First published: 2016-06-28https://doi.org/10.5593/sgem2016/b22/s09.038View metrics

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Title
EXPLORATION AND MAPPING OF ANCIENT UNDERGROUND TUNNELS WITH A HETEROGENEOUS ROBOT TEAM
Authors
Savran, Dogan, Tuna, Gurkan
Proceedings
SGEM International Multidisciplinary Scientific GeoConference EXPO Proceedings; 16th International Multidisciplinary Scientific GeoConference SGEM2016, Informatics, Geoinformatics and Remote Sensing
Publisher
Stef92 Technology
Year
2016
Pages
297-304
ISSN
1314-2704
ISBN
978-619-7105-59-9
Language
en
Publication type
Conference Paper
References24

  1. L. Cantelli, M. Lo Presti, M. Mangiameli, C. D. Melita, & G. Muscato. Autonomous Cooperation between UAV and UGV to improve navigation and environmental monitoring in rough environments . 10th International Symposium on Humanitarian Demining coupled with the 11th IARP WS HUDEM’2013, Croatia, 2013.

  2. B. Grocholsky, J. Keller, V. Kumar, & G. Pappas. Cooperative Air and Ground Surveillance. IEEE Robotics & Automation Magazine, pp. 15-26, 2006.

  3. M. Garzon, J. Valente, D. Zapata, & A. Barrientos. An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas. Sensors, vol. 13, pp. 1247- 1267, 2013.

  4. G. Muscato, F. Bonaccorso, L. Cantelli, D. Longo, & C. D. Melita. Volcanic environments: Robots for Exploration and Measurement. IEEE Robotics & Automation Magazine, vol.19, no.1, pp. 40-49, 2012.

  5. M. K. Habib, Y. Baudoin, & F. Nagata. Robotics for Rescue and Risky Intervention. 37th Annual Conference on IEEE Industrial Electronics Society (IECON), Australia, 2011, pp. 3305-3310.

  6. M. Owen, H. Yu, T. McLain, & R. Beard. Moving Ground Target Tracking in Urban Terrain Using Air/Ground Vehicles. IEEE Globecom 2010 Workshop on Wireless Networking for Unmanned Aerial Vehicles, USA, 2010, pp. 1816-1820.

  7. T. Shaneyfelt, M. A. Joordens, K. Nagothu, & M. Jamshidi. RF communication between surface and underwater robotic teams. World Automatic Congress (WAC), Hawaii, 2008, 1-6.

  8. I. F. Akyildiz, Z . Sun, & M. C. Vuran. Signal propagation techniques for wireless underground communication networks. Physical Communication, vol. 2, pp. 167-183, 2009.

  9. http://www.ros.org

  10. J. Sock, K. Kwak, J. Min, & Y. –W. Park. Probabilistic traversability map building for autonomous navigation . 14th International Conference on Control, Automation and Systems (ICCAS), Korea, 2014, pp. 652-655.

  11. S. Huang & G. Dissanayake. Convergence and Consistency Analysis for Extended Kalman Filter Based SLAM. IEEE Transactions on Robotics, vol. 23, no. 5, pp. 1036- 1049, 2007.

  12. http://www.mathworks.com/products/matlab/ 16th International Multidisciplinary Scientific GeoConference SGEM2016 www.sgem.org

  13. L. Cantelli, M. Lo Presti, M. Mangiameli, C. D. Melita, & G. Muscato. Autonomous Cooperation between UAV and UGV to improve navigation and environmental monitoring in rough environments . 10th International Symposium on Humanitarian Demining coupled with the 11th IARP WS HUDEM’2013, Croatia, 2013.

  14. B. Grocholsky, J. Keller, V. Kumar, & G. Pappas. Cooperative Air and Ground Surveillance. IEEE Robotics & Automation Magazine, pp. 15-26, 2006.

  15. M. Garzon, J. Valente, D. Zapata, & A. Barrientos. An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas. Sensors, vol. 13, pp. 1247- 1267, 2013.

  16. G. Muscato, F. Bonaccorso, L. Cantelli, D. Longo, & C. D. Melita. Volcanic environments: Robots for Exploration and Measurement. IEEE Robotics & Automation Magazine, vol.19, no.1, pp. 40-49, 2012.

  17. M. K. Habib, Y. Baudoin, & F. Nagata. Robotics for Rescue and Risky Intervention. 37th Annual Conference on IEEE Industrial Electronics Society (IECON), Australia, 2011, pp. 3305-3310.

  18. M. Owen, H. Yu, T. McLain, & R. Beard. Moving Ground Target Tracking in Urban Terrain Using Air/Ground Vehicles. IEEE Globecom 2010 Workshop on Wireless Networking for Unmanned Aerial Vehicles, USA, 2010, pp. 1816-1820.

  19. T. Shaneyfelt, M. A. Joordens, K. Nagothu, & M. Jamshidi. RF communication between surface and underwater robotic teams. World Automatic Congress (WAC), Hawaii, 2008, 1-6.

  20. I. F. Akyildiz, Z . Sun, & M. C. Vuran. Signal propagation techniques for wireless underground communication networks. Physical Communication, vol. 2, pp. 167-183, 2009.

  21. http://www.ros.org

  22. J. Sock, K. Kwak, J. Min, & Y. –W. Park. Probabilistic traversability map building for autonomous navigation . 14th International Conference on Control, Automation and Systems (ICCAS), Korea, 2014, pp. 652-655.

  23. S. Huang & G. Dissanayake. Convergence and Consistency Analysis for Extended Kalman Filter Based SLAM. IEEE Transactions on Robotics, vol. 23, no. 5, pp. 1036- 1049, 2007.

  24. http://www.mathworks.com/products/matlab/ 16th International Multidisciplinary Scientific GeoConference SGEM2016 www.sgem.org

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