Development and field test of teleoperated mobile robots for active volcano observation

Keiji Nagatani, Ken Akiyama, Genki Yamauchi, Kazuya Yoshida, Yasushi Hada, Shin'Ichi Yuta, Tomoyuki Izu, Randy Mackay

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

When an active volcano erupts, a restricted area is typically set according to the eruption level. However, it is very important to observe eruption products inside of this area to predict the timing and scale of volcanic hazards, such as debris flows. Therefore, we propose a robotic observation system for active volcanoes that is composed of a multi-rotor unmanned aerial vehicle (UAV) and a mobile ground robot. To deliver the ground robot safely from the multi-rotor UAV to the ground, we implemented a sky-crane mechanism and confirmed the feasibility of the mechanism theoretically. In this paper, we introduce our volcano observation scenario as well as the observation system and sky-crane mechanism we have developed. Finally, we report on a field test conducted at Mount Asama in September 2013.

Original languageEnglish
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1932-1937
Number of pages6
ISBN (Electronic)9781479969340
DOIs
Publication statusPublished - 2014 Oct 31
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: 2014 Sep 142014 Sep 18

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period14/9/1414/9/18

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Nagatani, K., Akiyama, K., Yamauchi, G., Yoshida, K., Hada, Y., Yuta, SI., Izu, T., & Mackay, R. (2014). Development and field test of teleoperated mobile robots for active volcano observation. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1932-1937). [6942818] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942818