2023 – TDP – Hector Darmstadt – RoboCupRescue – Robot

This paper describes the approach used by Team Hector Darmstadt for participation in the 2023 RoboCup Rescue Robot League competition. Participating in the RoboCup Rescue competition since 2009, the members of Team Hector Darm- stadt focus on exploration of disaster sites using autonomous Unmanned Ground Vehicles (UGVs). We provide an overview of the complete system used to solve the problem of reliably finding victims in harsh USAR environments. This includes hardware as well as software so- lutions and diverse topics like navigation, SLAM, human-robot interaction and perception. As a contribution to the RoboCup Rescue community, many parts of the used software have been released and documented as open source software for ROS