arXiv subjects

Georg Novotny

Publications and source records attributed to Georg Novotny.

4 recordsLinked to original sources

arXiv2024

UGV-CBRN: An Unmanned Ground Vehicle for Chemical, Biological, Radiological, and Nuclear Disaster Response

Robotic search and rescue (SAR) supports response teams by accelerating disaster assessment and by keeping operators away from hazardous environments. In the event of a chemical, biological, radiological, and nuclear (CBRN) disaster, robots are deployed to identify and locate radiation sources. Human responders then assess the situation and neutralize the danger. The presented system takes a step toward enhanced integration of robots into SAR teams. Integrating autonomous radiation mapping with semi-autonomous substance sampling and online analysis of the CBRN threat lets the human operator localize and assess the threat from a safe distance. Two LiDARs, an IMU, and a Geiger counter are used for mapping the surrounding area and localizing potential radiation sources. A mobile manipulator with six Degrees of Freedom manipulates valves and samples substances that are analyzed by an onboard Raman spectrometer. The human operator monitors the mission's progression from a remote location defining target locations and directing the semi-autonomous manipulation processes. Diverse recovery behaviours aid robot deployment, system state monitoring, as well as recovery of hard- and software. Field tests showcase the capabilities of the presented system during trials at the CBRN disaster response challenge European Robotics Hackathon (EnRicH). We provide recorded sensor data and implemented software through a GitHub repository: https://github.com/TW-Robotics/search-and-rescue-robot-2024.

cs.RO↗

arXiv2023

JKU-ITS Automobile for Research on Autonomous Vehicles

In this paper, we present our brand-new platform for Automated Driving research. The chosen vehicle is a RAV4 hybrid SUV from TOYOTA provided with exteroceptive sensors such as a multilayer LIDAR, a monocular camera, Radar and GPS; and proprioceptive sensors such as encoders and a 9-DOF IMU. These sensors are integrated in the vehicle via a main computer running ROS1 under Linux 20.04. Additionally, we installed an open-source ADAS called Comma Two, that runs Openpilot to control the vehicle. The platform is currently being used to research in the field of autonomous vehicles, human and autonomous vehicles interaction, human factors, and energy consumption.

cs.RO↗

arXiv2022

Autonomous Vehicle Calibration via Linear Optimization

In navigation activities, kinematic parameters of a mobile vehicle play a significant role. Odometry is most commonly used for dead reckoning. However, the unrestricted accumulation of errors is a disadvantage using this method. As a result, it is necessary to calibrate odometry parameters to minimize the error accumulation. This paper presents a pipeline based on sequential least square programming to minimize the relative position displacement of an arbitrary landmark in consecutive time steps of a kinematic vehicle model by calibrating the parameters of applied model. Results showed that the developed pipeline produced accurate results with small datasets.

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arXiv2020

Mobile Delivery Robots: Mixed Reality-Based Simulation Relying on ROS and Unity 3D

In the context of Intelligent Transportation Systems and the delivery of goods, new technology approaches need to be developed in order to cope with certain challenges that last mile delivery entails, such as navigation in an urban environment. Autonomous delivery robots can help overcome these challenges. We propose a method for performing mixed reality (MR) simulation with ROS-based robots using Unity, which synchronizes the real and virtual environment, and simultaneously uses the sensor information of the real robots to locate themselves and project them into the virtual environment, so that they can use their virtual doppelganger to perceive the virtual world. Using this method, real and virtual robots can perceive each other and the environment in which the other party is located, thereby enabling the exchange of information between virtual and real objects. Through this approach a more realistic and reliable simulation can be obtained. Results of the demonstrated use-cases verified the feasibility and efficiency as well as the stability of implementing MR using Unity for ROS-based robots.

cs.RO↗