NIFTi is about human-robot cooperation. About teams of robots and humans doing tasks together, interacting together to try and reach a shared goal. NIFTi looks at how the robot could bear the human in mind. Literally. When determining what to do or say next in human-robot interaction; when, and how. NIFTi puts the human factor into cognitive robots, and human-robot team interaction in particular.
Each year, NIFTi evaluates its systems together with several USAR organizations. Rescue personnel teams up with NIFTi robots to carry out realistic missions, in real-life training areas.
This site uses Google Analytics to record statistics on site visits - see Legal information.
M. Gianni, G. Gonnelli, A. Sinha, M. Menna, and F. Pirri
An Augmented Reality approach for trajectory planning and control of tracked vehicles in rescue environments
In: Proceedings of the 11th IEEE International Symposium on Safety, Security and Rescue Robotics.
In this paper we propose a framework for trajectory planning and control of tracked vehicles for rescue environments, based on Augmented Reality (AR). The framework provides the human operator with an AR-based interface that facilitates both 3D path planning and obstacle negotiation. The interface converts the 3D movements of a marker pen, handheld by the operator, into trajectories feasible for the tracked vehicle. The framework implements a trajectory tracking controller to allow the tracked vehicle to autonomously follow the trajectories, decided by the operator. This controller relies on a localization system which provides, at real-time, position feedback. The localization system exploits the performance of a Dead Reckoning System together with the accuracy of an ICP-based SLAM in pose estimation, to determine the pose of the tracked vehicle within the 3D map. We demonstrate the application of the planning framework in autonomous robot navigation for evaluating the robot capabilities in rescue environments. Our experiments show the effectiveness of the trajectory tracking control method.