HELIOS system: A team of tracked robots for special urban search and rescue operations

Abstract— Fire brigades and special agencies are often demanded to operate for search and aid of human lives in extremely dangerous scenarios. It is very important to first verify the safety of the environment and to obtain remotely a clear image of the scenario inside buildings or underground spaces. Several studies have been addressing the possibility of using robotic tools to carry out safe operations. This contribution presents the development of the HELIOS team, consisting of five tracked robots for Urban Search And Rescue. Two units are equipped with manipulators for the accomplishment of particular tasks, such as the handling of objects and opening doors; the other three units, equipped with cameras and laser range finders, are utilized to create virtual 3D maps of the explored environment. The three units can move autonomously while collecting the data by using a collaborative positioning system (CPS). After an overview on the specifications of the team of robots and with...

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Michele Guarnieri, Ryo Kurazume, Hiroshi Masuda, Takao Inoh, Kensuke Takita, Paulo Debenest, Ryuichi Hodoshima, Edwardo F. Fukushima, Shigeo Hirose
• Keywords: HELIOS IX Vehicle, IROS 2009, Robotics, Urban Search And Rescue, five Tracked Robots