Flexible Disaster Response of Tomorrow -- Final Presentation and Evaluation of the CENTAURO System

Mobile manipulation robots have high potential to support rescue forces in\ndisaster-response missions. Despite the difficulties imposed by real-world\nscenarios, robots are promising to perform mission tasks from a safe distance.\nIn the CENTAURO project, we developed a disaster-response system which consists\nof the highly flexible Centauro robot and suitable control interfaces including\nan immersive tele-presence suit and support-operator controls on different\nlevels of autonomy.\n In this article, we give an overview of the final CENTAURO system. In\nparticular, we explain several high-level design decisions and how those were\nderived from requirements and extensive experience of Kerntechnische\nHilfsdienst GmbH, Karlsruhe, Germany (KHG). We focus on components which were\nrecently integrated and report about a systematic evaluation which demonstrated\nsystem capabilities and revealed valuable insights.\n