遠隔移動ロボットとオペレータの協調による被災地環境モデル生成システムの開発

抄録

This paper presents a system for building a map of an underground area that is stricken by an earthquake. The system consists of a teleoperated mobile-robot and a workstation to control it from the ground. The robot navigates in the underground area in both semi-autonomous and teleoperated modes, and builds a map based on the SLAM framework with the assistance of the operator.