@InProceedings{Kubelka-MSAS2014,
  IS = { zkontrolovano 02 Jan 2015 },
  UPDATE  = { 2014-12-19 },
  author =      {Kubelka, Vladim{\'\i}r and Reinstein, Michal},
  affiliation = {13133-13133},
  authorship =  {50-50},
  title =       {Combining Complementary Motion Estimation Approaches
                  to Increase Reliability in Urban Search \& Rescue
                  Missions},
  year =        {2014},
  pages =       {347-356},
  booktitle =   {Modelling and Simulation for Autonomous Systems},
  editor =      {Hodicky, Jan},
  publisher =   {Springer},
  address =     {Cham, Switzerland},
  isbn =        {978-3-319-13822-0},
  volume =      {1},
  series =      {Lecture Notes in Computer Science},
  number =      {8906},
  book_pages =  {388},
  month =       {May},
  day =         {5-6},
  venue =       {Rome, Italy},
  organization ={NATO Modelling and Simulation Centre of Excellence},
  annote =      {Precise motion estimation is vital for any mobile
                  robot to correctly control its actuators and thus to
                  navigate through terrain. Basic approaches of motion
                  estimation (e.g . wheel odometry) that can be
                  considered reliable in laboratory conditions tend to
                  fail in rea l-world search and rescue scenarios
                  because of uneven and slippery surface the robot has
                  to cr oss. In this article, we pick some of the
                  current localization and motion estimation
                  techniques and discuss their prerequisites in
                  contrast with experience g athered during end-user
                  evaluations and a real-world deployment of our
                  robotic platform in a t own struck by an earthquake
                  (Mirandola, Italy). The robotic platform is equipped
                  with a set of sensors allowing us to combine various
                  approaches to robot localization and motion
                  estimation in order to incr ease the redundancy in
                  the system and thus the overall reliability. We
                  present our approach to fuse selected sensor modal
                  ities that was developed with emphasis on possible
                  sensor failures, which have been subsequent ly
                  experimentally tested.},
  keywords =    {Urban Search and Rescue, Mobile Robotics, Localization},
  project =     {FP7-ICT-609763 TRADR, GACR 14-13876S},
  doi =         {10.1007/978-3-319-13823-7},
}