A proof-of-concept application of multi-hop robot teleoperation with online map building

In rescue operations, for example in the case of a tunnel collapse, it is sometimes helpful to take advantage of a robot or a robot team for exploration and mapping purposes. Robots can be teleoperated by a remote user and reach places in which the life of a human operator would be in danger. However, the teleoperation of a robot in such scenarios is quite a complicated task, especially if there is no communication infrastructure available. In such a case, ad-hoc networking techniques must be used to extend the coverage range and, if necessary, to cover the whole disaster area. Furthermore, if the environment is unknown or has substantially changed, it may be necessary to build a map for the later intervention of human rescue teams. In this paper we present a proof-of-concept application that aims to show a way of dealing with this kind of situation. In a sample scenario, a robot is teleoperated over a wireless multi-hop network while a human operator receives laser and video feedback in order to control it. At the same time a map of the environment is built at the base station using a SLAM technique.