The overview of a situation in a search and rescue disaster is the key aspect of an effective assistance. In the recent years the utilization of multicopter with various photogrammetry systems is an upcoming trend and an open field of research. This paper discusses the technical aspects of an automated integral system that will support rescuers during the strategic mission planning and will give situational awareness by instantaneous 3D mapping. The approach combines sensors including a 3D Laserscanner, a thermal camera and an attitude system as a payload unit on an Multicopter. The continuous data fusion and the down link are providing an instant 3D environment map that is continuously revised and updated.

We used a brain-computer interface (BCI) system controlled with event-related potentials (ERPs) evoked by tactile stimulation to control a mobile platform. Eight tactile stimulators were attached in four pairs to the arms, legs and back of the participants (N=12). The electroencephalogram (EEG) was recorded via a modified Emotiv headset. All participants were trained in the laboratory, then four participants controlled the mobile platform in an outdoor environment. Inside the laboratory the participants achieved average accuracies of 72%. Outside four participants achieved average accuracies of 61% (range 52-88%). Technical problems with the responses of the mobile platform and high outside temperatures prevented higher levels of control with the mobile platform. A mobile platform better suited for the discrete control implemented with the BCI or a different control scheme will be needed for future experiments. Nevertheless, subjects were able to control the mobile platform with tactile ERPs using low-cost EEG equipment in a real world environment.

This paper extends the well known efficient RRT* algorithm to handle special environmental structures, such as narrow passages. By applying the watershed algorithm, inspired by image processing, a segmentation component is added to solve the given problem. Therefore the traditional watershed segmentation competes against the newly developed center marker watershed algorithm and the results of different experiments, combining both segmentation methods with the Rapidly Exploring Random Tree* (RRT*) algorithm to the Segmented Rapidly Exploring Random Tree* (SRRT*), are compared for several critical environments. It is shown, the whole trajectory planning process benefits from the segmentation and the SRRT*, using the new center marker watershed, outer performs the traditional RRT* method.

In many future applications autonomous mobile robots will play an important role. One of the key functionalities is the autonomous navigation of these robots. At the moment only physical constraints of the robot itself are considered in planning algorithms. But in real world applications also other kind of constrains like direction constrains or speed limits exist. This paper shows an extension to the RRTCAP* algorithm in order to cope with this kind of constrains. In experimental results this extension is evaluated according some performance measures.

In archaeological studies the use of new technologies has moved into focus in the past years creating new challenges such as the processing of the massive amounts of data. In this paper we present steps and processes for smart 3D modelling of environments by use of the mobile robot Irma3D. A robot that is equipped with multiple sensors, most importantly a photo camera and a laser scanner, enables the automation of most of the processes, including data acquisition and registration. The robot was tested in the Würzburg Residence. Methods for automatic 3D color reconstructions of cultural heritage sites are evaluated in this paper.

This paper presents a trajectory planning approach, the Rapidly Exploring Random Tree∗ Controller and Planner (RRTCAP∗), combining the planning phase of a RRT∗-based algorithm with the execution phase on a real robot. Despite the necessary adaption of RRT∗ - planner, using Reed-Sheeps curves as local planning method, a trajectory controller is shown which is necessary for compensating deviations introduced by mechanical tolerances and simplified models. The algorithm is implemented on the existing mobile robot Outdoor MERLIN and evaluated in different scenarios using simulations, as well as hardware experiments.

In archaeological studies the use of new technologies has moved into focus in the past years creating new challenges such as the processing of the massive amounts of data. In this paper we present steps and processes for smart 3D modelling of environments by use of the mobile robot Irma3D. A robot that is equipped with multiple sensors, most importantly a photo camera and a laser scanner, enables the automation of most of the processes, including data acquisition and registration. The robot was tested in two scenarios, Ostia Antica and the Wurzburg Residence. The paper describes the steps for creating 3D color reconstructions of these renown cultural heritage sites.

The localization of mobile robots is very important for any outdoor application such as search and rescue, reconnaissance, surveillance, and monitoring. Already a lot of research was done in the field of localization; nevertheless an accurate and reliable positioning of a mobile robot is very challenging. The common Global Positioning System (GPS) is a very common and popular for the outdoor localization. But GPS has well known drawbacks, like the limited accuracy of the positioning. For this reason, various sensor data fusion algorithms were developed, which fuse the GPS positioning information and dead reckoning sensors to overcome the drawbacks of GPS and dead reckoning sensors. A fundamental aspect of these fusions is the resulting accuracy of the determined position, which depends on the sensor accuracy as well as on the filter parameters. Usually, the output of such Filter are compared to the rare sensor data, but it is not compared to the real position of the vehicle. In the following, a test bed for localization methods will be introduced. To demonstrate the usage, Kalman Filter were implemented to fuse GPS and odometry sensors to determine the position of a mobile robot in an outdoor environment. The focus of this paper is the calibration and evaluation of the Kalman Filter using the test bed based on a high precision optical positioning system. Therefore, the experimental setup, the Kalman Filter, the synchronization of the high precision positioning system, and the transformation of one system into the other is explained.

We developed a line coating robot, which will be used to apply markings on different surfaces like roads, factory floors or the ground of swimming pools. We implemented a navigation controller for the robot that uses a laser sensor to move the robot precisely along a path that is marked with laser light. We build up a laser sensor ourselves to minimize costs and gain higher flexibility and compared this sensor to a commercial laser sensor in respect to robustness, resolution and performance.

Recently, several backpack-mounted systems, also known as personal laser scanning systems, have been developed. They consist of laser scanners or cameras that are carried by a human operator to acquire measurements of the environment while walking. These systems were first designed to overcome the challenges of mapping indoor environments with doors and stairs. While the human operator inherently has the ability to open doors and to climb stairs, the flexible movements introduce irregularities of the trajectory to the system. To compete with other mapping systems, the accuracy of these systems has to be evaluated. In this paper, we present an extensive evaluation of our backpack mobile mapping system in indoor environments. It is shown that the system can deal with the normal human walking motion, but has problems with irregular jittering. Moreover, we demonstrate the applicability of the backpack in a suitable urban scenario.

Worldwide demographic trends of aging societies raise the demand for assistive technologies for senior people, including in particular robotic aids. Here, specifically the fields of robotic assistance for support of mobility and for workers in industrial assembly tasks are emphasized. In mobility assistance a vehicle provides navigation functionalities for route planning and for safe driving. In case of the industrial workplace, a manipulator cooperates with the worker to take the major load in lifting heavy objects, while the human provides the guidance in placing the objects. Performance tests have been performed with a user group of more than 100 seniors.

Mobile robots are often equipped with one powerful μC or PC managing a large system with sensors, actuators and tasks. The contemporary approach is to divide functionality into several smaller sub-systems. The main advantages of such a decentralized and dynamic system are better maintainability, higher reliability, improved fault tolerance, and a more flexible distribution of tasks. Therefore, this paper presents a decentralized self-organizing and networking system for μC connected via CAN. Algorithms for managing joining and leaving nodes at unpredictable times, for time synchronization, for fault management as well as for automatic reorganization are integrated in the system and will be introduced in this paper. The system was implemented on a network of μCs to demonstrate the performance of the system. Finally, a sensor data fusion to determine the position of a mobile robot was implemented based on a Kalman Filter and using sensors connected to several μCs.

„Robotik und Gesetzgebung“ lautete das Thema einer Tagung, die vom 7. bis 9. Mai 2012 am Zentrum für interdisziplinäre Forschung (ZiF) in Bielefeld stattfand. Experten aus Technik, Rechtswissenschaft, Ethik, Philosophie und Soziologie diskutierten über neuartige Regelungsprobleme im Zusammenhang mit autonomen Systemen. Während derartige Systeme früher vor allem im Bereich der industriellen Produktion eingesetzt wurden, erobern sie sich heute in zunehmendem Maße neue Anwendungsbereiche, etwa in der Medizin, dem Straßenverkehr, dem Haushalt und der Unterhaltung. Gleichzeitig werden die automatisierten Entscheidungsprozesse immer komplexer und ihre Ergebnisse immer weniger intuitiv vorhersehbar.

This paper presents a narrow passage assistance function to support older adults with degenerated mental and physical abilities. The assistance function is implemented on a mobility scooter which already provides several assistance functions. The narrow passage algorithm is the newest assistance function on the mobility scooter and reliefs the operator from the challenging control of the mobility scooter in narrows, such as doorways, while the operator is controlling the vehicle. This is a very important aspect, because the elderly people do not want to be controlled by the vehicle, they want to control the vehicle by themselves. Therefore, the algorithm determines the prospective path of the vehicle according to the current steering angle. A Laser Range Finder (LRF) is used to detect narrows on the prospective path of the vehicle. If the vehicle can drive through the narrow, this assistance function prevents a slow down caused by the collision avoidance function. The algorithm is evaluated in several test runs using a high precision positioning system. Finally, the results of the experiments are presented and discussed.

Assistive technologies for older adults are getting more and more attention because of changes in demographics. Mobility is one of the biggest issues for people with degenerating physical and mental abilities, such that they are able to live independently. Therefore, this paper deals with the development and the evaluation of a drive assistance function for a mobility scooter to help keep older people mobile. The implemented drive assistance function reduces the challenging control of the vehicle and provides supports for the operator. The assistance function analyses the driving commands of the operator and controls the mobility scooter according to these commands. Finally, an evaluation of the assistance function with odler people shows the less challenging control and the increased safety.

Currently the market for service robots is expanding very fast. Special attention is given to robots designed to assist elderly persons with degenerative mental and physical abilities, technology which has arisen from the demand associated with recent demographic changes. Therefore, several mobility aids equipped with assistance functions such as obstacle avoidance were developed in recent years to support the mobility of the elderly. However, many legal questions surrounding the use of these systems remain unanswered including the important question of liability. These problems become more complicated with the advent of new technology, such as the ability for robots to “learn” and adapt new functions to perform their duties. The law is not yet prepared for the changes coming with these modern technologies. Robots and autonomous systems are not quite considerate by the law until now. Therefore, this paper wants to shed light onto the issues surrounding transport robots in AAL and German civil liability. It will focus on the liability of the manufacturer and user both in the status quo and with regard to future problems.

This paper describes the development of a scooter supporting the mobility of older people. The scooter is equipped with a drive assistance system and a special scooter navigation system. The drive assistance system consists of a velocity controller, a steering controller, and a collision avoidance system. In this paper it is demonstrated how the challenging control and steering tasks are modified to increase safety for older people. A special scooter navigation system is presented, to support elderly people in navigating on a safe route through the city using sidewalks, pedestrian lights and crosswalks. For extended positioning requirements a hybrid positioning system was developed combining GPS, WLAN, and inertial sensor data. By combination of these technical improvements it is demonstrated how older people are able to preserve their self-determined and independent life. Usability research was done with focus groups in order to become familiar with global user demands and expectations towards a mobility assistance system. Results show that the system components are expected to assist the user in navigation, steering and speed control rather than to take complete control on the driving situation.

The localisation of outdoor mobile robots is one of the most important challenges for implementing applications such as search and rescue, reconnaissance, surveillance and monitoring. The Global Positioning System (GPS) is a common used sensor system for localisation but the drawbacks of its limited accuracy are well known. These effects can cause mission failure especially for small sized mobile robots. To compensate these drawbacks, a sensor data fusion is introduced based on an Unscented Kalman Filter (UKF) that fuses GPS, inertial and incremental sensor data in an adaptive way. In case of GPS outages the typical INS drift can be avoided by a new alternative position update, which is calculated based on the last pose and the kinematic model that uses incremental encoder and yaw rate sensor data. The whole system is implemented on a low power micro controller.

In the last years assistive technologies to preserve elderly people a self determined and independent life receive growing attention. Mobility is one of the biggest issues for a self-determined life, in particular for elderly people. Social participation and daily activities like shopping, errands or doctor visits require mobility. Therefore mobility is a prerequisite to maintain autonomy and self-determination in old age. Mobility scooter are able to preserve the mobility of elderly people, but it is very challenging to control such a vehicle, especially for elderly people. Therefore this paper presents some drive assistance function to support the operator and increase the safety. Three different functions to improve the security and decrease the challenging control will be introduced: a hand throttle regulation, a drive off function and an emergency stop. Some of these functions were validated and tested by several elderly people to find the best configuration.

Small, agile rovers for harsh outdoor environments offer good potential to support rescue teams in emergency operations. For such exploration purposes the outdoor MERLIN rovers have been developed in tracked and wheeled versions for the weight class between 10 and 20 kg. Those vehicles can achieve velocities up to 50 km/h. Therefore the drive assistance system has to provide the functionalities to perform safe and efficient tele-operations in combination with autonomous reaction capabilities. The tele-operator can select appropriate levels of autonomy, ranging from warning signals to autonomous reactions of the vehicle's on-board data processing system, if an endangering situation is not anticipated. Implemented features include detection of obstacles in the path, as well as an adaptation of speed appropriate to terrain roughness and slope, but also to path curvature. An autonomous return to the initial position is to be realized, when the telecommunication contact to the tele-operator has been lost. This paper addresses the implemented sensor and data processing techniques to handle those tasks in a robust way. Results from extensive tests in various environments will be reported. In particular the results from the C-ELROB 2007 competition, the European Land Robotics trial, will be reported, where the Outdoor MERLIN was the winner of the urban terrain challenge.