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Mobile manipulation for sampling from surfaces in a multi-robot CBRNE reconnaissance system

: Welle, J.; Gaspers, B.; Schulz, D.

Lauster, Michael (Hrsg.) ; Fraunhofer Verbund Verteidigungs- und Sicherheitsforschung; Fraunhofer-Institut für Naturwissenschaftlich-Technische Trendanalysen -INT-, Euskirchen:
8th Future Security 2013. Security Research Conference : Berlin, September 17 - 19, 2013. Proceedings
Stuttgart: Fraunhofer Verlag, 2013
ISBN: 3-8396-0604-7
ISBN: 978-3-8396-0604-9
Security Research Conference "Future Security" <8, 2013, Berlin>
Conference Paper
Fraunhofer FKIE

Detection and recognition of chemical, biological, radiological, nuclear and explosive (CBRNE) threats are important tasks on disaster sites for rescue personnel – civilian or military. An analysis of suspicious materials cannot always be performed on-site introducing the need for sample taking. To reduce or even eliminate the necessity of personnel operating in close vicinity of hazardous materials, it is preferable to use unmanned systems to conduct such tasks.
We developed a multi-robot CBRNE system consisting of a detection robot carrying a multipurpose CBRNE sensor suite and a manipulation robot. The manipulation robot extends the capabilities of the system by providing mechanisms for semi-autonomous sample collection from surfaces. In this paper we focus on assistance functions for the manipulation robot, mainly visualization and task automation. They increase the usability of the robot and reduce the burden on the operator. To prove the applicability of our methods we conducted experiments on real robots.