无人机与地面机器人协同构建救援地图并导航，提升搜救效率。
Air-Ground Collaborative Robots for Fire and Rescue Missions: Towards Mapping and Navigation Perspective
- 以无人机建图、地面车导航的协同框架实现任务高效执行。
- 系统梳理了无人机建图、联合定位与地面车导航的研究进展与局限。
- 针对不同配置的协同机器人，分析其在真实救援场景中的适用性。
空中-地面协同机器人在消防与救援领域展现出巨大潜力，能快速响应需求并提升任务执行效率。地图构建与导航作为实现高效任务执行的关键基础，受到广泛关注。尽管该领域研究日益深入，但尚缺乏对协同机器人在地图构建与导航方面系统的综合探讨。本文从地图构建与导航的新视角，系统回顾了面向消防与救援任务的地面-地面协同机器人研究进展。首先提出一种基于无人机建图与地面车导航的空中-地面协同机器人框架；随后系统总结了该框架下的研究进展，包括无人机建图、无人机/地面车联合定位以及地面车导航，分析其主要成果与不足。根据消防与救援任务需求，对配备不同数量无人机和地面机器人的协同系统进行分类，并详细阐述其在实际救援任务中的可行性，重点讨论各自的优缺点。此外，还列举了空中-地面协同机器人在各类消防与救援场景中的应用实例。最后，指出当前面临的挑战与潜在研究方向，为相关领域从业者和研究人员提供参考。
原文摘要 · Abstract (English)
Air-ground collaborative robots have shown great potential in the field of fire and rescue, which can quickly respond to rescue needs and improve the efficiency of task execution. Mapping and navigation, as the key foundation for air-ground collaborative robots to achieve efficient task execution, have attracted a great deal of attention. This growing interest in collaborative robot mapping and navigation is conducive to improving the intelligence of fire and rescue task execution, but there has been no comprehensive investigation of this field to highlight their strengths. In this paper, we present a systematic review of the ground-to-ground cooperative robots for fire and rescue from a new perspective of mapping and navigation. First, an air-ground collaborative robots framework for fire and rescue missions based on unmanned aerial vehicle (UAV) mapping and unmanned ground vehicle (UGV) navigation is introduced. Then, the research progress of mapping and navigation under this framework is systematically summarized, including UAV mapping, UAV/UGV co-localization, and UGV navigation, with their main achievements and limitations. Based on the needs of fire and rescue missions, the collaborative robots with different numbers of UAVs and UGVs are classified, and their practicality in fire and rescue tasks is elaborated, with a focus on the discussion of their merits and demerits. In addition, the application examples of air-ground collaborative robots in various firefighting and rescue scenarios are given. Finally, this paper emphasizes the current challenges and potential research opportunities, rounding up references for practitioners and researchers willing to engage in this vibrant area of air-ground collaborative robots.
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