Abstract
This paper presents a prototype of a multi-robot reconnaissance system for detection of chemical, biological, radiological, nuclear and explosive (CBRNE) threats. Our system consists of different robot platforms which are able to carry highly modularized payload platforms: either a multi-purpose CBRNE sensor suite or a mobile manipulator for semi-autonomous sample collection. A variety of sensors is available for detection and identification of chemical and radiological hazards as well as for collecting potentially dangerous airborne biological particles. A manipulator can be used to gather chemical and biological samples directly from surfaces in the environment. A detailed description illustrates the robot platforms, the CBRNE sensor suite and relevant parts of the user interface. For a technical validation preliminary real world experiments are presented.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Humphrey, C.M., Adams, J.A.: Robotic Tasks for CBRNE Incident Response. Advanced Robotics 23(9), 1217–1232 (2009)
Casper, J., Micire, M., Murphy, R.R.: Issues in Intelligent Robots for Search and Rescue. In: Unmanned Ground Vehicle Technology II - Proceedings of SPIE, vol. 4024, pp. 292–302 (2000)
Lundberg, C., Reinhold, R., Christensen, H.I.: Evaluation of robot deployment in live missions with the military, police, and fire brigade. In: Carapezza, E.M. (ed.) Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense VI – Proceedings of SPIE, vol. 6538 (2007)
Murphy, R.R., Stover, S.: Rescue Robots for Mudslides: A Descriptive Study of the 2005 La Conchita Mudslide Response. Journal of Field Robotics 25(1), 3–16 (2008)
Casper, J., Murphy, R.R.: Human-Robot Interactions During the Robot-Assisted Urban Search and Rescue Response at the World Trade Center. IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics 33(3), 367–385 (2003)
Penzes, S.G.: Multi Agent Tactical Sentry (MATS) Project Review. In: Gerhart, G.R., et al. (eds.) Unmanned Systems Technology VIII - Proceedings of SPIE, vol. 6230 (2006)
Giesbrecht, J., Fairbrother, B., Collier, J., Beckman, B.: Integration of a High Degree of Freedom Robotic Manipulator on a Large Unmanned Ground Vehicle. In: Gerhart, G.R., et al. (eds.) Unmanned Systems Technology XII – Proceedings of SPIE, vol. 7692 (2010)
Neilsen, C.W., Gertman, D.I., Bruemmer, D.J., Hartley, R.S., Walton, M.C.: Evaluating Robot Technologies as Tools to Explore Radiological and Other Hazardous Environments. In: Proceedings of the American Nuclear Society Emergency Planning and Response, and Robotics and Security Systems Joint Topical Meeting, Albuquerque (2008)
Jasiobedzki, P., Ng, H.-K., Bondy, M., McDiarmid, C.H.: C2SM: a mobile system for detecting and 3D mapping of Chemical, Radiological, and Nuclear contamination. In: Pro-ceedings of Sensors, and Command, Control, Communications, and Intelligence, Technologies for Homeland Security and Homeland Defense VIII (2009)
Zarzhitsky, D., Spears, D., Spears, W., Thayer, D.: A Fluid Dynamics Approach to Multi-Robot Chemical Plume Tracing. In: Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, vol. 3, pp. 1476–1477 (2004)
Kathirgamanthan, P., McKibbin, R., McLachlan, R.: Source Term Estimation of Pollution from an Instantaneous Point Source. Research Letters in the Information and Mathematical Sciences 3, 59–67 (2002)
Christopoulos, V., Roumeliotis, S.: Multi Robot Trajectory Generation for Single Source Explosion Parameter Estimation. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, pp. 2803–2809 (2005)
Christopoulos, V., Roumeliotis, S.: Adaptive Sensing for Instantaneous Gas Release Parameter Estimation. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, pp. 4450–4456 (2005)
Schneider, F.E., Wildermuth, D.: An Autonomous Unmanned Vehicle for CBRNE Reconnaissance. In: Proceedings of the 12th International Carpathian Control Conference (ICCC 2011), Velke Karlovice, pp. 351–356 (2011)
Hoeller, F., Roehling, T., Schulz, D.: Offroad Navigation Using Adaptable Motion Patterns. In: Proceedings of the International Conference on Informatics in Control, Automation and Robotics (ICINCO), Milan (2009)
St. Louis, R.H., Hill Jr., H.H., Eiceman, G.A.: Ion Mobility Spectrometry in Analytical Chemistry. Critical Reviews in Analytical Chemistry 21(5), 321–355 (1990)
Schneider, F.E., Wildermuth, D.: Results of the European Land Robot Trial and Their Usability for Benchmarking Outdoor Robot Systems. In: Groß, R., Alboul, L., Melhuish, C., Witkowski, M., Prescott, T.J., Penders, J. (eds.) TAROS 2011. LNCS, vol. 6856, pp. 408–409. Springer, Heidelberg (2011)
Robot Operating System (ROS) documentation, http://www.ros.org/wiki
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Schneider, F.E., Wildermuth, D., Ducke, M., Brüggemann, B. (2012). Development of an Experimental Multi-robot CBRNE Reconnaissance Demonstrator. In: Aschenbruck, N., Martini, P., Meier, M., Tölle, J. (eds) Future Security. Future Security 2012. Communications in Computer and Information Science, vol 318. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33161-9_58
Download citation
DOI: https://doi.org/10.1007/978-3-642-33161-9_58
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33160-2
Online ISBN: 978-3-642-33161-9
eBook Packages: Computer ScienceComputer Science (R0)