Ground robotics in tunnels: Keys and lessons learned after 10 years of research and experiments

Tardioli, Danilo ; Riazuelo, Luis (Universidad de Zaragoza) ; Sicignano, Domenico (Universidad de Zaragoza) ; Rizzo, Carlos ; Lera, Francisco (Universidad de Zaragoza) ; Villarroel, José L. (Universidad de Zaragoza) ; Montano, Luis (Universidad de Zaragoza)

Resumen: The work reported in this article describes the research advances and the lessons learned by the Robotics, Perception and Real-Time group over a decade of research in the field of ground robotics in confined environments. This study has primarily focused on localization, navigation, and communications in tunnel-like environments. As will be discussed, this type of environment presents several special characteristics that often make well-established techniques fail. The aim is to share, in an open way, the experience, errors, and successes of this group with the robotics community so that those that work in such environments can avoid (some of) the errors made. At the very least, these findings can be readily taken into account when designing a solution, without needing to sift through the technical details found in the papers cited within this text.

Idioma: Inglés

DOI: 10.1002/rob.21871

Año: 2019

Publicado en: Journal of Field Robotics 36, 6 (2019), 1074-1101
ISSN: 1556-4959

Factor impacto JCR: 3.581 (2019)

Categ. JCR: ROBOTICS rank: 9 / 28 = 0.321 (2019) - Q2 - T1

Factor impacto SCIMAGO: 1.313 - Control and Systems Engineering (Q1) - Computer Science Applications (Q1)

Financiación: info:eu-repo/grantAgreement/ES/DGA/T45-17R
Financiación: info:eu-repo/grantAgreement/EUR/FP6/IST-1-045062/URUS
Financiación: info:eu-repo/grantAgreement/ES/MINECO/DPI2003-07986
Financiación: info:eu-repo/grantAgreement/ES/MINECO/DPI2006-07928
Financiación: info:eu-repo/grantAgreement/ES/MINECO/DPI2009-08126
Financiación: info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32100
Financiación: info:eu-repo/grantAgreement/ES/MINECO/DPI2016-76676-R
Financiación: info:eu-repo/grantAgreement/ES/MINECO/RTC-2015--4099-4
Financiación: info:eu-repo/grantAgreement/ES/UZ/CUD2017-18

Tipo y forma: Article (PostPrint)

Área (Departamento): Área Arquit.Tecnología Comput. (Dpto. Informát.Ingenie.Sistms.)
Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)
Área (Departamento): Área Teoría Señal y Comunicac. (Dpto. Ingeniería Electrón.Com.)