Articles | Volume 18
https://doi.org/10.5194/ars-18-23-2020
https://doi.org/10.5194/ars-18-23-2020
10 Dec 2020
 | 10 Dec 2020

Towards 3D Simulation for Disaster Intervention Robot Behaviour Assessment

Matteo Bertolino and Tullio J. Tanzi

Cited articles

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ASTER: Global Digital Elevation Map, NASA Jet Propulsion Laboratory, California Institute of Technology, available at: https://asterweb.jpl.nasa.gov/gdem.asp (last access: 9 December 2020), 2004.  
Bennett, H. E. and Porteus, J. O.: Relation Between Surface Roughness and Specular Reflectance at Normal Incidence, J. Opt. Soc. Am., 51, 123–129, 1961. 
Berger, A. S.: Embedded Systems Design: An Introduction to Processes, Tools, and Techniques, CMP Books, Berkeley, CA, USA, 237 pp., ISBN 1578200733, 2002. 
Bertolino, M. and Tanzi, T.: Advanced Robot 3D Simulation Interface for Disaster Management, Kleinheubach Conference, 23–25 September 2019, Miltenberg, Germany, 1–4, 2019. 
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Short summary
The paper presents our work to validate the architecture (software and hardware, including sensors) of ArcTurius Rover. ArcTurius is an autonomous system dedicated to the precise location of survivors after a disaster. To be sure that ArcTurius is adapted to a specific mission, we rely on a set of 3D simulations. In this paper, we focus on finding the best parametrization for a LiDAR sensor. We target to find the best trade-off between the quality of the acquired data and energy consumption.