A Modularization Concept for Mobile Robots in Search and Rescue Applications

In mobile robotics, many kinds of sensors and systems are in use. These are oftentimes capable of functioning independently of the actual robot functions. Therefore, in most cases they are applicable to be carried by many mobile robot platforms. However, in common practice, the systems are not build in an inter-robot-transferable way and hence robots are custom-built for specific tasks and are costly to modify. This results in immense potential and time loss, when payloads are to be transferred to other robots. One goal of the German Center for Rescue Robotics, is to establish a concept that enables the exchange of self-contained payload modules to adapt to multiple use cases. This paper proposes a new system architecture for suitable hardware and software components that enable the exchange of specialized payload modules between multiple robot platforms via standardized interfaces. Exemplary functions of payload modules, that are compatible with the used concept, include but are not limited to fire detection and fire extinguishing. Using the example of a human detection and vital sign measurement module, the concept's potential is demonstrated. Our results show that such payload modules can be developed and tested separately, without the need for a robot, as the standardized interface allows for easy integration with multiple robot plat- forms. This approach reduces the overall development time and required expertise for adding new functionalities to a robot system, as it eliminates the need for extended knowledge in robotics. Instead, expertise in the specific application domain is sufficient. Moreover, the developed modular robot concept, allows for quick and easy reconfiguration of a robot's capabilities through standardized interfaces.

I. Introduction

Robots are typically developed for a specific purpose, like automated guided vehicles (AGVs) for logistics, tactical robots for bomb disposal or firefighting robots. Commercially available systems are often extended with abilities through proprietary payloads such as manipulators, laser range finders and different sensors.