Flexible Disaster Response of Tomorrow -- Final Presentation and Evaluation of the CENTAURO System

19 Sep 2019  ·  Klamt Tobias, Rodriguez Diego, Baccelliere Lorenzo, Chen Xi, Chiaradia Domenico, Cichon Torben, Gabardi Massimiliano, Guria Paolo, Holmquist Karl, Kamedula Malgorzata, Karaoguz Hakan, Kashiri Navvab, Laurenzi Arturo, Lenz Christian, Leonardis Daniele, Hoffman Enrico Mingo, Muratore Luca, Pavlichenko Dmytro, Porcini Francesco, Ren Zeyu, Schilling Fabian, Schwarz Max, Solazzi Massimiliano, Felsberg Michael, Frisoli Antonio, Gustmann Michael, Jensfelt Patric, Nordberg Klas, Roßmann Jürgen, Süss Uwe, Tsagarakis Nikos G., Behnke Sven ·

Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promising to perform mission tasks from a safe distance... In the CENTAURO project, we developed a disaster-response system which consists of the highly flexible Centauro robot and suitable control interfaces including an immersive tele-presence suit and support-operator controls on different levels of autonomy. In this article, we give an overview of the final CENTAURO system. In particular, we explain several high-level design decisions and how those were derived from requirements and extensive experience of Kerntechnische Hilfsdienst GmbH, Karlsruhe, Germany (KHG). We focus on components which were recently integrated and report about a systematic evaluation which demonstrated system capabilities and revealed valuable insights. read more

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