CASSANDRA

I am responsible for CASSANDRA system development.

CASSANDRA is mobile robotic system developed at LTR s.r.o. company and Brno University of Technology, including STI CEITEC.

The system contains operator’s station controlled with one operator and a couple of robots – small and big ground robots, flying robots (quadrocopters), and mapping robot.

The robots are primarily controlled by the operator with advanced user interface with visual telepresence and augmented reality. Nevertheless the robots include the possibility of semi-autonomous operation based on self-localisation. User interface consists of a computer, joypad, head-mounted display with inertial head-tracker, communication device, and Cassandra software developed by our team in Microsoft .NET.

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The robots are made to be reliable and to be able to work in extreme conditions, they are tested by a series of MIL-STD military tests for environmental parameters, EMC, vibrations and shocks, contamination/decontamination, etc.

Orpheus-X3 is a general US&R robot with enhanced victim search capabilities, Orpheus-HOPE is made for water contamination measurements, Orpheus-AC2 is a ruggedized version for environmental parameter measurement. Two flying drones were developed completely by our team, as well as envMap mapping robot for real-time construction of spatial digital maps with texture mapping.

All the robots can be controlled with help of visual telepresence and augmented reality – that makes robot control much more intuitive, and lets the operator/rescuer to concentrate on the mission itself. The control station may be used as a self-containing wearable system.

Currently my team is developing fusion system with multispectral measurement containing tricolor cameras, thermal imagers and TOF camera.

Video: Multispectral Data Dusion and Mapping: