Remote Planning and Operation of a UGV Through ROS and Commercial Mobile Networks

Abstract

Recent advances in disaster robotics have improved perceptual intelligence and maneuverability of unmanned ground (UGV) and aerial (UAV) vehicles for search and rescue (SAR) missions. Nevertheless, effective deployment of disaster robots in complex SAR scenarios poses additional mission-level challenges regarding operation and monitoring. These challenges include building maps for generating safe paths for the robots, designing reliable communication schemes, and integrating the robotic platforms and human responders through a mission control center. In this paper, we address these problems by applying a mission-oriented Internet of robotic things (IoRT) architecture that integrates robotic and human agents through ROS-based communications. This architecture has been validated in an urban SAR scenario from a remote (440 km) mission control center through a commercial mobile network.