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On March 11, 2011, a massive earthquake (Magnitude 9.0) and accompanying tsunami hit the Tohoku region of eastern Japan. Since then, the Fukushima Daiichi Nuclear Power Plants have been facing a crisis because of loss of all power resulting in meltdown accidents. Three buildings housing nuclear reactors were seriously damaged from hydrogen explosions and,(More)
On March 11, 2011, a massive earthquake and tsunami hit eastern Japan, particularly affecting the Tohoku area. Since then, the Fukushima Daiichi Nuclear Power Station has been facing a crisis. To respond to this crisis, we considered using our rescue robots for surveillance missions. Before delivering a robot to TEPCO (Tokyo Electric Power Company), we(More)
A rescue crawler robot with flipper arms has high ability to get over rough terrain, but it is hard to control its flipper arms in remote control. The authors aim at development of a semi-autonomous control system for the solution. In this paper, the authors propose a sensor reflexive method that controls these flippers autonomously for getting over unknown(More)
Rapid information gathering during the initial stage of investigation is an important process in case of disasters. However this task could be very risky, or even impossible for human rescue crews, when the environment has contaminated by nuclear, biological, or chemical weapons. We developed the information gathering system using multiple mobile robots(More)
This paper proposes a light-weight sensor platform that consists of gyro-assisted odometry and a 3D laser scanner for localization of human-scale robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. Robust and computationally(More)