TY - CHAP A1 - Steinbrink, Marco A1 - Koch, Philipp A1 - May, Stefan A1 - Jung, Bernhard A1 - Schmidpeter, Michael T1 - State Machine for Arbitrary Robots for Exploration and Inspection Tasks T2 - Proceedings of the 2020 4th International Conference on Vision, Image and Signal Processing N2 - In this paper, a novel state machine for mobile robots is described that enables a direct use for exploration and inspection tasks. It offers a graphical user interface (GUI) to supervise the process and to issue commands if necessary. The state machine was developed for the open-source framework Robot Operating System (ROS) and can interface arbitrary algorithms for navigation and exploration. Interfaces to the commonly used ROS navigation stack and the explore_lite package are already included and can be utilized. In addition, routines for mapping and inspection can be added freely to adapt to the area of application. The state machine features a teleoperation mode to which it changes as soon as a respective command was issued. It also implements a software emergency stop and multiplexes all movement commands to the motor controller. To show the state machine's capabilities several simulations and real-world experiments are described in which it was used. KW - State Machine KW - Exploration KW - Inspection KW - Mobile Robotics Y1 - 2020 U6 - https://doi.org/10.1145/3448823.3448857 PB - ACM CY - New York, NY, USA ER - TY - CHAP A1 - Koch, Philipp A1 - Engelhardt, Helmut A1 - May, Stefan A1 - Schmidpeter, Michael A1 - Ziegler, Jasmin A1 - Nüchter, Andreas T1 - Signed Distance Based Reconstruction for Exploration and Change Detection in Underground Mining Disaster Prevention T2 - 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) N2 - This publication describes an application of a Truncated Signed Distance Mapping approach for disaster intervention in underground mine shafts through geometrical change detection of the shaft walls. The paper describes two main problems of such an approach (aligning two potentially huge point clouds and automatic change detection by comparing the reconstructed volumes) and explains in detail the proposed solution. KW - signed distance KW - stereo camera KW - underground mining KW - change detection Y1 - 2020 U6 - https://doi.org/10.1109/SSRR50563.2020.9292618 SP - 360 EP - 365 PB - IEEE ER -