2019 – TDP – Hector Darmstadt – RoboCupRescue – Robot

This paper describes the approach used by Team Hector Darmstadt for participation in the 2019 RoboCup Rescue Robot League competition. Participating in the RoboCup Rescue competition since 2009, the members of Team Hector Darmstadt 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 solutions and diverse topics like locomotion, SLAM, pose estimation, human robot interaction and victim detection. In 2019, the team focuses on highly reliable and accurate 3D Mapping and autonomous rough terrain locomotion. 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.