Chapters authored
New Applications of 3D SLAM on Risk Management Using Unmanned Aerial Vehicles in the Construction Industry
Risk Management is an integral part of the Corporate Governance of the Companies, whose objective is to estimate the risks related to each line of business and to make appropriate decisions regarding the adoption of preventive measures. The construction industry, due to its peculiar characteristics about occupational risks, is a sector that must pay particular attention to this issue. Unmanned aerial robots are part of a generation of new technologies, which are emerging in the attempt to develop robust and efficient algorithms capable of obtaining 3D models of structures under construction, to support the assessment of the situation in case of an eventuality, before the direct human intervention. This article proposes to develop a risk management strategy for the construction industry based on obtaining 3D models of work environments using drones, which will allow safe evaluation of risks present in construction zones.
Part of the book: Drones
Extending the Limits of the Random Exploration Graph for Efficient Autonomous Exploration in Unknown Environments
The autonomous construction of environment maps using mobile robots is a fundamental problem of robotics; this is because virtually all tasks performed by robots need a representation of the working environment to operate. Although many works have addressed this problem known as SLAM, it still remains open; since most of the solutions do not consider a planner that allows the robot to explore autonomously the working environment or the works that consider it, they have developed slow algorithms that do not guarantee a total coverage of the environment or an optimal development of the exploration, which may result in maps of poor quality or definitely not usable given this lack of information. Thus, this work presents a new exploration method based on the random exploration graph (REG), which, unlike its predecessor, defines a systematic analysis of the next positions to be explored eliminating randomness in decision-making and thus minimizing the amount of movements that the robot must make to reach them and the time required to achieve total coverage of the environment. Additionally, a series of tests carried out on the proposed method are presented, and the results obtained in classical variables such as time and distance allow to validate the efficiency of our approach.
Part of the book: Path Planning for Autonomous Vehicle