Ghost: getting invisibly from position A to position B

Gisela Häufel; Dimitri Bulatov; Thomas Emter; Christian Frese; Benedikt Kottler; Janko Petereit; Arno Schmidt; Peter Solbrig; Dominik Stütz; Peter Wernerus

doi:10.1117/12.2679812

17 October 2023 Ghost: getting invisibly from position A to position B

Gisela Häufel, Dimitri Bulatov, Thomas Emter, Christian Frese, Benedikt Kottler, Janko Petereit, Arno Schmidt, Peter Solbrig, Dominik Stütz, Peter Wernerus

Author Affiliations +

Proceedings Volume 12740, Emerging Imaging and Sensing Technologies for Security and Defence VIII; 1274005 (2023) https://doi.org/10.1117/12.2679812
Event: SPIE Security + Defence, 2023, Amsterdam, Netherlands

Abstract

The Ghost GR Vision 60 V5 robot is a walking robot from Ghost Robotics, which has extensive sensor and autonomy capabilities. The autonomy functions are provided by Fraunhofer IOSB’s Algorithm Toolbox (ATB) and enable the robot to perform localization, obstacle mapping, path planning, and path control. While Ghost autonomously moves from position A to position B, the environment is captured by laser scanners. Normally, the shortest path between the two points is taken. But what happens if this path can be seen by enemy observers and the walking robot is disturbed or, in the worst case, destroyed? At Fraunhofer IOSB, a fusion of the sensed environment based on laser scanners, existing height models and a coverage map was implemented on the walking robot’s system. This enables the robot to navigate tactically: It will – whenever possible – actively and autonomously seek cover in the shelter of houses and other objects on its way to the given target point.

Conference Presentation

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Gisela Häufel, Dimitri Bulatov, Thomas Emter, Christian Frese, Benedikt Kottler, Janko Petereit, Arno Schmidt, Peter Solbrig, Dominik Stütz, and Peter Wernerus "Ghost: getting invisibly from position A to position B", Proc. SPIE 12740, Emerging Imaging and Sensing Technologies for Security and Defence VIII, 1274005 (17 October 2023); https://doi.org/10.1117/12.2679812

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available