Detail publikace

Simulation of Autonomous Robotic System for Intelligence and Reconnaissance Operations

CIHLÁŘ, M. RAICHL, P. GÁBRLÍK, P. JANOUŠEK, J. MARCOŇ, P. ŽALUD, L. LÁZNA, T. MICHENKA, K. NOHEL, J. ŠTEFEK, A.

Originální název

Simulation of Autonomous Robotic System for Intelligence and Reconnaissance Operations

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

This paper examines the possibilities of realistic simulations of robotic systems employed for intelligence and reconnaissance operations in the outdoor environment. Including simulation into the development process accelerates and facilitates testing, verification, and evaluation of algorithms, and prevents potential damage of expensive hardware. To achieve fast and flexible development, we utilize a widely used Robotic Operating System (ROS) framework, which, together with Gazebo simulator, enables to deploy robots and test algorithms in both real-world and simulation. Gazebo supports a wide range of customization options, including the creation of own worlds, robots, and sensors. Moreover, the solution allows to deploy a multiple heterogenous robots within one simulation instance to test cooperative missions. To demonstrate the potential of this simulation concept for intelligence operations, we introduce a scenario involving several flying and terrestrial robots during a Chemical, Biological, Radiological, Nuclear, and Explosive (CBRNE) mission comprising a radiation source search. For this purpose, we deployed realistic robotic platforms into the aerial photogrammetry-based 3D world, and, above all, we improved the standard radiation plugin to collect credible data. The results indicate that the concept fulfills requirements for intelligence and reconnaissance robotic operation simulation.

Klíčová slova

Gazebo, mobile robots, ROS, swarm, UGV, UAV

Autoři

CIHLÁŘ, M.; RAICHL, P.; GÁBRLÍK, P.; JANOUŠEK, J.; MARCOŇ, P.; ŽALUD, L.; LÁZNA, T.; MICHENKA, K.; NOHEL, J.; ŠTEFEK, A.

Vydáno

1. 5. 2023

Nakladatel

Springer, Cham

ISBN

978-3-031-31268-7

Kniha

Modelling and Simulation for Autonomous Systems

Edice

MESAS 2022

Číslo edice

13866

ISSN

0302-9743

Periodikum

Lecture Notes in Computer Science

Stát

Spolková republika Německo

Strany od

64

Strany do

73

Strany počet

10

URL

https://link.springer.com/chapter/10.1007/978-3-031-31268-7_4

BibTex

@inproceedings{BUT183994,
  author="Miloš {Cihlář} and Petr {Raichl} and Petr {Gábrlík} and Jiří {Janoušek} and Petr {Marcoň} and Luděk {Žalud} and Tomáš {Lázna} and Karel {Michenka} and Jan {Nohel} and Alexandr {Štefek}",
  title="Simulation of Autonomous Robotic System for Intelligence and Reconnaissance Operations",
  booktitle="Modelling and Simulation for Autonomous Systems",
  year="2023",
  series="MESAS 2022",
  journal="Lecture Notes in Computer Science",
  number="13866",
  pages="64--73",
  publisher="Springer, Cham",
  doi="10.1007/978-3-031-31268-7\{_}4",
  isbn="978-3-031-31268-7",
  issn="0302-9743",
  url="https://link.springer.com/chapter/10.1007/978-3-031-31268-7_4"
}