RI Homepage Carnegie Mellon Homepage RI Homepage

The Robotics Institute

Carnegie Mellon Robotics Institute

Pandora: autonomous urban robotic reconnaissance system

Hagen Schempf, , Colin Piepgras, J. Warwick, Brian Chemel, Scott Boehmke, , Robert Fuchs, and
IEEE Int. Conf. on Robotics and Automation (ICRA '99), May, 1999, pp. 2315 - 2321.


Download
  • Adobe portable document format (pdf) (624KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Urban settings represent a challenging environment for teleoperated and autonomous robot systems. We present a new design for a highly terrain adaptable robot system, detailing the major mechanical, electrical and control systems. The Pandora robot system is a tracked robot system with self-contained computing, power and wireless communications systems. A sensor suite including stereoscopic and panospheric cameras, light-strippers and acoustic sonar-ring(s) allow the system to operate autonomously. Individually adjustable track-modules give Pandora extreme mobility in natural (vegetation, soils) and man-made (roads, steps) outdoor environments as well as indoor arenas (sewers, staircases, etc.). Locomotion was shown successfully over various extreme terrains, including reconfiguration to best suit the terrain and enable future sensor-supported autonomous operations

Notes
Number of pages: 7

Text Reference
Hagen Schempf, , Colin Piepgras, J. Warwick, Brian Chemel, Scott Boehmke, , Robert Fuchs, and , "Pandora: autonomous urban robotic reconnaissance system," IEEE Int. Conf. on Robotics and Automation (ICRA '99), May, 1999, pp. 2315 - 2321.

BibTeX Reference
@inproceedings{Schempf_1999_4528,
   author = "Hagen Schempf and and Colin Piepgras and J. Warwick and Brian Chemel and Scott Boehmke and and Robert Fuchs and ",
   title = "Pandora: autonomous urban robotic reconnaissance system",
   booktitle = "IEEE Int. Conf. on Robotics and Automation (ICRA '99)",
   pages = "2315 - 2321",
   month = "May",
   year = "1999",
   volume = "3",
}

The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.
Contact Us | Update Instructions