Robot-Assisted Bridge Inspection

Authors:
Robin R. Murphy;Eric Steimle;Michael Hall;Michael Lindemuth;David Trejo;Stefan Hurlebaus;Zenon Medina-Cetina;Daryl Slocum
Affiliations:
Texas A&M, College Station, USA 77843-3112;AEOS, LLC, St. Petersburg, USA 33711;AEOS, LLC, St. Petersburg, USA 33711;University of South Florida, St. Petersburg, USA 33701;Oregon State University, Corvallis, USA 97331;Texas A&M, College Station, USA 77843-3112;Texas A&M, College Station, USA 77843-3112;YSI Inc., San Diego, USA 92121
Venue:
Journal of Intelligent and Robotic Systems
Year:
2011

Citing 3
Cited 6

Cooperative use of unmanned sea surface and micro aerial vehicles at Hurricane Wilma

Journal of Field Robotics
Crew roles and operational protocols for rotary-wing micro-uavs in close urban environments

Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
A hierarchical path planning and obstacle avoidance system for an autonomous underwater vehicle

ACC'09 Proceedings of the 2009 conference on American Control Conference

Toward autonomous robotic containment booms: visual servoing for robust inter-vehicle docking of surface vehicles

Intelligent Service Robotics
Marine heterogeneous multirobot systems at the great Eastern Japan Tsunami recovery

Journal of Field Robotics
Proposals for New UGV, UMV, UAV, and HRI standards for rescue robots

Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop
Human-swarm interaction: sources of uncertainty

Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
Modeling indoor lighting inspection robot behavior using Concurrent Communicating Lists

Expert Systems with Applications: An International Journal
Monocular Visual-Inertial SLAM-Based Collision Avoidance Strategy for Fail-Safe UAV Using Fuzzy Logic Controllers

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

The Center for Robot-Assisted Search and Rescue (CRASAR®) deployed a customized AEOS man-portable unmanned surface vehicle and two commercially available underwater vehicles (the autonomous YSI EcoMapper and the tethered VideoRay) for inspection of the Rollover Pass bridge in the Bolivar peninsula of Texas in the aftermath of Hurricane Ike. A preliminary domain analysis with the vehicles identified key tasks in subsurface bridge inspection (mapping of the debris field and inspecting the bridge footings for scour), control challenges (navigation under loss of GPS, underwater obstacle avoidance, and stable positioning in high currents without GPS), possible improvements to human-robot interaction (having additional display units so that mission specialists can view and operate on imagery independently of the operator control unit, incorporating 2-way audio to allow operator and field personnel to communicate while launching or recovering the vehicle, and increased state sensing for reliability), and discussed the cooperative use of surface, underwater, and aerial vehicles. The article posits seven milestones in the development of a fully functional UMV for bridge inspection: standardize mission payloads, add health monitoring, improve teleoperation through better human-robot interaction, add 3D obstacle avoidance, improve station-keeping, handle large data sets, and support cooperative sensing.