ROBOCUP RESCUE 2024 TDP COLLECTION 1

RoboCup Rescue 2024 Team Description Paper

BRACU ALTER
Mehedi Hassan, Shahoria Ahmmad Durjoy, Niaz Nafi Rahman, Mehedi Hasan, Farha Hassan Priti,
MD.Mustaq Mujahid, Tohora Tammin Anupoma, Abdulla Hil Kafi, Raihana Shams Islam Antara, Muntasir Ahad

Info
Team Name: BRACU ALTER
Team Institution: BRAC University
Team Country: Bangladesh
Team Leader: Mehedi Hassan
Team URL:
Team Qualification Video: https://youtu.be/2e5bQrD-i Y
RoboCup Rescue TDP collection: 2019+:
https://https://tdp.robocup.org/tdp/ Pre 2019:
https://robocup-rescue.github.io/team description papers/
Abstract—This paper illustrates the description of an Au-
tonomous Ground Vehicle (AGV) ”BRACU ALTER” that is
developed for performing the rescue assessments more effec-
tively during search and rescue operations. This multitasking Fig. 1: The Robust Rescue Rover BRACU ALTER ( Behind
rover, basically performed by a undergraduate student team the rover the lines are 30cm apart)
from different disciplines of BRAC University, Bangladesh; for
contribution to the industry, economy and academia altogether.
Also, focusing on RoboCup Rescue 2024 competition, the rover is
upgraded with a significant software and hardware improvement.
To keep pace with the 4th Industrial revolution, using the cutting the savior to conduct the rescue mission smartly due to the
edge technology: the power and safety efficient circuit based rover lack of proper rescue facilities,communication gap, limited
has some utmost features like autonomous navigation, object resources, delay in arrival etc.[1]. Also, the recent earthquake
detection, 3D mapping, sensing and imaging capabilities which in Turkey during 2022, many people died and that caused
allows to perform a profound assistance for insuring successful
surveillance,inspection and assigned tasks during rescue missions.
widespread devastation where it needed very fast assistance
for rescue[2]. Chemical factory blast due to gas leakage,
in Chattagram, Bangladesh where thousand of people died
Index Terms—RoboCup Rescue, Team Description Paper,
BRACU ALTER TDP, Autonomous Rescue Rover, 3D mapping, burnt[3]. That type of incidents insists us deeply to develop
Object Detection. a rescue rovers that has the potential to assess environmental
factors, mitigate the challenges and can minimize the aftermath
of such disaster. The rover some features like intuitive user in-
I. I NTRODUCTION
tuitive user interface enabling seamless interaction and control,
The undergraduate student team BRACU ALTER, from abilities of autonomous navigation, able to traverse challenging
LaSSET, Brac University Bangladesh, is presenting a robust path or hazardous terrain with comfort, ability of thermal
and reliable rescue rover with advanced robotics technologies imaging, 3D mapping, audio- video transmission system, real
that creates significant impact on search and rescue operations. time monitoring and pick and drop capabilities. The rover
The specialised type of rover can effectively navigate rugged mainly engineered to collaborate alongside to human respond
terrain, access disaster stricken areas and reach survivors who according to the given command.Moreover, considering power
might otherwise be challenging to locate. Recently, in the and current : circuit protection is one of the major concerns
era of technology, almost everything is being improved via in a rover circuit [4]. Therefore, we pay focus on our circuit
the use of robotics and intelligent system. Alike is obvious to make it protected from different awkward incidents such
that, advanced rescue rovers are required to enable intelligent as over current, over voltage etc. Additionally, we have some
search and rescue missions. During the Rana Plaza tragedy modes: manual mode, autonomous mode, power saving mode,
in Bangladesh when Building collapsed, it was very hard for emergency mode to make our rover more advanced and power
Mehedi Hassan, Shahoria Ahmmad Durjoy, Mehedi Hasan, Farha Hassan efficient. Emergency shutdown sub-system is also a significant
Priti, MD. Mustaq Mujahid ,Tohora Tammin Anupoma are with the Depart- part of a robotic system [5]. Hence, the rover includes a
ment of Electrical and Electronic Engineering, BRAC University, Bangladesh, kill switch so that the rover can shut down immediately
[email protected]: .
Niaz Nafi Rahman and Mehedi Hasan, are with The Depertmaent of while needed. The research is started focusing on robotics
Computer Science and Engineering, BRAC University, Bangladesh,. industry, academia and different competitions altogether. After
ROBOCUP RESCUE 2024 TDP COLLECTION 2

returning back from competition it is decided to establishing a B. Scientific Publications

robotics firm, bridging the gap between research and practical We have two publications on our rescue robots.
applications. Broadly, we envision leading the country into
becoming a hub for robots and robotics product manufacturing.
• Publication on kill switch: We have done a publication
on a multipurpose kill-switch to terminate sixteen aerial
vehicles at a time and wake them up all at once or
A. Improvements over Previous Contributions
individually both in manually and autonomously [5].
We participated in RoboCup2023 competition when we
were selected as a finalist and asked for the final round • Publication on Rover Circuit protection: Last time while
in Bourdex, France. However, for some reason we could we were preparing for RoboCup Rescue2023, our cir-
not attend the final round. This time we have mode some cuit burnt many times due to over current and short
significant change in our rover basically in mechanical and circuit.Consequently, it damaged the circuit so many
electronics subsystem. times. Then we started researching about the circuit
protection. Lastly, our research findings published from
TENCON2023 IEEE conference [4].

II. S YSTEM D ESCRIPTION

Most of the ideas and progression of the rescue rover has
been progressed in the laboratory. The whole system is consist
of some subsystems such as hardware subsystem, control
subsystem, and communication subsystem.

A. Hardware
The hardware subsystem of our new rover is totally
different from our previous rover comparing the locomotion,
power and electronics, manipulation, vision and sensor and
base station as described below:
Fig. 2: Latest Prototype (BRACU ALTER)
• Locomotion: Locomotion: The dimension of the main
body of the latest rover is 60cm in width, 110 cm in
length and 60 cm in height(Table-I). Maxon RE 50 200
W motor and a customised gear box is used in this rover
and we use timing belts as the gripper of the drive wheel
and flippers. Main material of the rover body and flipper
is aluminum to make the rover lightweight.

• Power: In this rover two 7S 25.9V Li-ion battery

packs are used to power the whole system. This rover
has four different modes - Manual control mode,
Autonomous mode, Power saving mode and emergency
mode. Operator can shift from one mode to another
Fig. 3: Previous Prototype
by according to the situation as a result the whole
electronics system is very power efficient.
• Mechanical: Previously our prototype rescue rover was
around 90 cm length with 80 kg weight and it was a bit • Electronics and Sensors: We are using Jetson Xavier and
difficult to navigate rough terrains. Recently, our new Raspberry pi as the main processing unit or the rover. We
rover is around 60 cm length with 50 kg wight along have used FPV camera, IP camera, Webcam and thermal
with 5 times increased motor torque. Which allows camera to sense the surroundings more accurately. A3
better traverse system compared to the previous one. LiDAR and Realsense rgb depth cameras are used
for 2D and 3D mapping, detection and navigation
• Electronics: In our previous circuit, there was no pro- precisely(Table-III).
tection considering voltage and current. But in our new
circuit circuit protection in highly maintained. Simulta- • Computation: We have used a holistic and comprehensive
neously, this time we are operating our rover in different circuit protection method to protect the whole circuit
modes: manual, autonomous, power saving, emergency from any kind of incident. Additionally this rover has
mode for make the circuit power efficient. four different modes that makes it very power efficient.
ROBOCUP RESCUE 2024 TDP COLLECTION 3

Implementing high quality sensors and cameras in this ALTER to manage one pair of flippers at a time via
rover ensure the precise and accurate sense of the sur- the game controller. This strategic approach minimizes
roundings; that will help to better perform in rescue the complexity of controls on the game pad, making
mission. However, we haven’t implemented arm in our it easier for operators to navigate ALTER effectively
latest rover yet, but we will build a 6 degree of freedom during rescue missions or disaster response efforts.
arm very soon.
• Vision Control System: Our robot’s vision system com-
prises four FPV (First Person View) cameras and a
B. Software and Human Robot Interface
PTZ (Pan-Tilt-Zoom) camera. To optimize the robot’s
Team Alter relies on ROS Noetic, an open-source meta- field of view, we’ve integrated a third-person camera
operating system tailored for robotic applications. ROS capable of free movement along two axes. This innovative
provides our system with a robust suite of functionalities addition enables near-360-degree vision without solely
akin to those of a traditional operating system. This includes relying on the robot’s arm-mounted camera. Operators
features such as hardware abstraction, enabling simplified have the flexibility to adjust camera views as needed, and
interaction with hardware components; low-level device the system seamlessly reorganizes views when the robot
control for precise manipulation of sensors and actuators; moves in reverse with a simple button press. This setup
and seamless integration of various sensors and actuators, enhances situational awareness and facilitates smoother
facilitating efficient data exchange and communication within operation, ensuring the robot can effectively navigate and
our robotic platform. By leveraging ROS Noetic, we enhance execute tasks in various environments.
the versatility, efficiency, and reliability of our system, • Mapping: The utilization of some occupancy grid maps
empowering Alter to excel in diverse operational scenarios, like simultaneous localization and avoidance has been
particularly in disaster response and rescue missions. increased in the last few years in regards to robotics
rescue missions. Our rover can generate 2D and 3D
• Tracks Control: Our latest rover, BRACU ALTER, mapping as well.[6]
represents a significant leap forward from our previous
model. One major improvement is the transition from two 2D Mapping: Alter enables the effortless generation
tracks to six, enhancing its stability and maneuverability of detailed maps for indoor environments, encompass-
across diverse terrains. This upgrade aims to bolster ing both 2D and 3D dimensions. This is achieved by
ALTER’s performance in demanding disaster response equipping Alter with an RPLidar A3, which seamlessly
scenarios. To address challenges with the previous rover’s captures data for 2D mapping. The approach involves
movement control, we’ve implemented a sophisticated leveraging Hector Slam, a technique that utilizes laser
differential drive mechanism for ALTER’s tracks. This scan matching to ensure precise alignment of data points
system allows for precise and responsive movement by in real-time. As Alter moves through interior hallways,
independently adjusting each track’s speed and direction. it adeptly navigates and creates precise 2D maps of its
Combined with a new ROS controller, commanding surroundings with remarkable ease.
ALTER’s movements is now simpler and more efficient
using basic velocity commands. Additionally, we
have integrated PID controllers into ALTER’s design,
ensuring precise velocity adjustments based on real-time
sensor feedback. This enhancement enables ALTER
to navigate complex terrain with exceptional precision
and efficiency. These advancements collectively elevate
ALTER’s capabilities, reflecting our commitment to
delivering a reliable platform for disaster response and
rescue missions.

• Flipper Control: In contrast to our previous rover, which

lacked a means of navigating stairs or overcoming
obstacles, our new rover, ALTER, addresses this
limitation with the introduction of a dynamic flipper
system. This innovative solution allows ALTER to Fig. 4: 2D mapping
maneuver over challenging terrain by utilizing four
flippers, each controlled by its own closed-loop PID 3D Mapping: We utilize a RealSense D435i RGB depth
controller to maintain precise positioning. Similar to the camera for 3D mapping, employing RTAB-Map software.
track control system, the software governing the flippers This software utilizes depth images to create point clouds
operates with the same level of sophistication, ensuring and enables the system to rectify localization inaccuracies
optimal performance in various scenarios. To streamline by detecting loop closures and optimizing the mapping
operation and prevent pilot overload, we’ve designed process.
ROBOCUP RESCUE 2024 TDP COLLECTION 4

Fig. 5: 3D mapping

• Autonomous Navigation: Our autonomy framework

initiates with the creation of a 2D occupancy grid
utilizing Hector SLAM. By harnessing the capabilities
of ROS’s Move Base and AMCL packages, our
system achieves robust navigation through intricate
terrains, showcasing adaptability and precision. This
integration guarantees the seamless execution of mission Fig. 6: Flowchart for hazmat and QR code detection using
objectives, allowing our robot to navigate dynamically YOLOv5
and efficiently in diverse environments encountered
during its operations.

• Object Detection: To enhance our situational awareness,

we utilize an RGB depth camera for object detection,
which combines color and depth data to achieve more
precise identification.We collected dataset from previous
RoboCup dataset and our chosen model is YOLOv5,
which has been meticulously trained to recognize haz-
ardous materials (Hazmat) and QR codes.Test is done in
the validation set where validation set size: 154 images.
There are 13 classes in our trained model for detecting
Hazmat. After fine-tuning the pre-trained weights on our
specific dataset, the resulting model achieved a remark-
able performance of 99% accuracy on a separate test
dataset.The true predicted value for each of the 13 class Fig. 7: F1- Confidence Curve
we got is close to 1 and 0.99 recall value on average
across all classes. On average, the model has an precision
above 80% across different confidence level to get an • Audio System: This rover has a two way audio
optimal detection result. We get maximum F1 score of communication system that can allow two way
0.96 at confidence level 0.814. Ultimately we chose 0.814 conference with the rover operator and any individuals
as the optimal confidence level for implementing our task. who may require assistance. A push to talk activation
This enables our system to make swift and informed button is there to activate the audio system, where a
decisions in dynamic environments, ensuring the safety customised version of ROS audio common package is
and efficiency of our operations. used to process audio data. On the ground station, there
are two ROS nodes to maintain the received audio data:
one ROS node is responsible for capturing data to the
ground station where as other node play the audio data
received to the ground station.

• Arm control: Our robotic arm system has undergone

a substantial upgrade compared to our previous rover.
The former custom-designed linear actuator-based arm,
known for its limitations in speed and precision, has
been replaced with the UFactory xArm 6, representing
a significant leap in performance. This new arm offers
vastly improved capabilities and versatility. The UFactory
ROBOCUP RESCUE 2024 TDP COLLECTION 5

xArm 6 is not only capable of handling various tasks communication system using Omnidirectional Antennas:
with precision but also supports the attachment of a Omnidirectional antennas: These antennas radiate their
range of accessories. These include options such as a signal in all directions, providing broader coverage. They
Gripper, Vacuum Gripper, BIO Gripper, 6 Axis Force are useful when the rover’s location is not precisely known
Torque Sensor, and Linear motor. These additional or when it needs to communicate with multiple points
features empower our system to accomplish tasks with simultaneously.Compatibility with IEEE Network Standards
greater efficiency and flexibility, ensuring that we can (802.11n/ac/ax):
adapt to a wide array of scenarios and achieve our
objectives with ease. IEEE 802.11n: This standard offers high throughput and
extended range for communication. It enhances the reliability
• Sensors: On the operator station’s GUI, we’ve grouped and speed of data transmission.
our sensors under the ”victim help” tab for easy access
and monitoring. Each sensor has its own ROS node IEEE 802.11ac: Also known as Wi-Fi 5, this standard
responsible for collecting data from the corresponding improves upon 802.11n by providing higher data rates and
hardware and publishing it to specific topics on the GUI. better performance, especially in crowded environments.
Thermal Camera: This camera communicates via UART
and SPI protocols to capture thermal imagery, detecting IEEE 802.11ax: Also known as Wi-Fi 6, this standard
temperature variations. Its ROS node publishes this data further enhances data throughput, especially in high-
for real-time monitoring. density scenarios, and improves the efficiency of wireless
communication.
Depth Camera: Operating solely on UART protocols,
this camera captures depth information, aiding in spatial
awareness. Its ROS node relays this data to the GUI for
navigation and obstacle avoidance.

Arm Camera for Motion Detection: Equipped with an

OpenCV-based motion detection program, this camera
identifies movements within its field of view. Its ROS
node processes video feeds and sends relevant data to
the GUI.

Web Camera for QR Code and Hazmat Detection: Fig. 8: Base Station and rover communication
This versatile camera detects QR codes and hazardous
materials using specialized programs. Its ROS node
Tethered Operation Mode: In special cases where wireless
handles image processing and communicates findings to
communication may not be reliable or feasible, a tethered
the GUI.
operation mode is designed and implemented. This involves
physically connecting the rover to the base station using
By centralizing these sensors under the ”victim help”
a cable or tether, ensuring a direct and stable connection.
tab and utilizing ROS nodes for data management, we
Tethered operation mode is useful in situations where wireless
ensure efficient integration and streamlined monitoring
signals may be obstructed or interfered with, such as when op-
capabilities. This sensor setup provides operators with
erating in rugged terrain or environments with electromagnetic
crucial insights for quick hazard response and effective
interference.
assistance.
III. A PPLICATION
• Custom GUI: We utilize a PS5 controller to operate
various functions of our rover, such as track movement, A. Set-up and Break-Down
flipper control, manipulator operation, and camera ad- During a rescue mission it is much important to set up and
justments. Our graphical user interface (GUI) is built on break down the whole rover in a short time. Basically, for our
PySide and ROS Noetic, enabling user input and real-time modular rescue rover, to maintain a sound communication we
display of the rover’s actions. The GUI offers multiple established a portable,waterproof, user-friendly base station or
camera views, as well as information on the rover’s po- operation station that can handle high temperature, shock and
sition, orientation, and other relevant data. Additionally, vibration. As well as, can be moved one place to another place
our software allows effortless visualization of the 3D map very easily. There are 3 raspberry pi monitor and 1 central
without requiring any manual command-line inputs. monitor to observe the FPV camera and real sense feed, GUI
monitoring, localization and mapping etc. The plug and play
C. Communication systemed rover can be assembled and disassembled in a short
We are employing different methods to communicate with time. We can operate it by any one of these: radio controller,
the rover through the base station in order to ensure a reliable joy-stick or keyboard.
ROBOCUP RESCUE 2024 TDP COLLECTION 6

B. Mission Strategy good ; however QR code detection experimental research

Though, last year we participated in RoboCup Rescue 2023 is ongoing. The team is focusing on both the hardware and
and got selected for final round, we could not attend the software testing and evaluating its performance in order to
final round for some reasons. However, this year we are improving functionalities the rover .
determined with full enthusiasm to participate in RoboCup
Reacue 2024 and perform strongly at the final round. In our
latest rover, we have fixed the mechanical problem that we D. Application in the Field
faced in the previous one. Also, We are almost done with our BRACU ALTER can contribute to the field of search of
artificial intelligence part. For RoboCup 2024, our strategy is rescue mission accordingly. It can assess disaster areas that
to complete the tasks autonomously to get extra points. We are difficult or dangerous for human to reach, detect livers
are trying to improve the mechanical structure of our latest by it sensors and respond autonomously. Its feature allows to
prototype as much as we can. However, our arm for the latest navigate uneven terrains autonomously and efficiently localize
prototype rover is still under development.Hopefully we will a particular area. It also allows both way audio communication
be able to manufacture the 6 degree of freedom arm before between system operator and victim. As the rover is versatile,
the final round of the competition and will complete the tasks it can serve different purpose to assist any rescue operation.
in the competition assigned with manipulator. For example, it can be deployed to detect hazardous gas
in a chemical factory to minimize the disaster or it can be
C. Experiments used to surveillance ,inspection and delivery emergency kits
during natural disasters like building collapse, earth quack, fire
In last few months, there were an ample amount of 3D accidents etc.
printed experimental tests of the gear design system of our
rover to resolve the low torque and overweight issue. After IV. C ONCLUSION
proving the gear system concept we updated the gear system
Team BRACU ALTER believes, it is focusing not only the
by aluminium material but the 3D wheels are still being
RoboCup Rescue Robot League, but imposing a significant
used. Passing through traile and error process we are now on
impact on rescue missions also by the touch of high level tech-
the latest version of BRACU Alter. Simultaneously, the team
nological research.This is the second time we are participating
focusing on the circuit and control system to make it more
in this competition and we are continuing a lot of research that
efficient and robust. It it mentioned earlier that, some of our
encourage the possibilities of performing a successful, efficient
research works already been published from IEEE conferences
rescue operation. Despite encountering certain technical and
[4][5].
operational challenges along the way, our research has revealed
promising advancements in the capabilities of our rescue rover.
Though, we still have some flaws and lacking, but our research
is on going; and we are confident enough that we will be
able to overcome all the challenges and make as perfect as
we can before the competition. Also, we hope that we will
finish manufacturing our desired arm for the latest rover very
soon. The rescue mission is important in a scenario where
it is difficult or unsafe for humans to intervene directly. By
addressing these challenges, our rover stands poised to greatly
improve its effectiveness in emergency response situations.
For example, it can navigate through hazardous environments,
gather crucial data, and relay information back to rescuers
in real-time. This capability not only enhances the safety of
both rescuers and survivors but also enables more informed
decisions-making in complex and challenging circumstances.
Furthermore, the insights gained from our research and de-
velopment efforts have the potential to influence not only
Fig. 9: Traversing Stairs the field of robotics but also emergency response protocols
and practices on a global scale. By leveraging technology
to augment human capabilities in rescue operations, we aim
to significantly enhance the efficiency and effectiveness of
We made simple test arena to test of our rover. We used emergency response efforts worldwide.
stairs, crossing ramps, victims and pieces of wooden bar
for testing maneuvering and mobility. Generating point A PPENDIX A
cloud, simultaneous localization and mapping has been done T EAM MEMBERS AND T HEIR C ONTRIBUTIONS
successfully in our laboratory as well as in the corridors. We are undergraduate student of BRAC University
Different types of Hazmat signs has been detected with a Bangladesh, doing research under the Laboratory of Space
ROBOCUP RESCUE 2024 TDP COLLECTION 7

System Engineering (LaSSET). In this team we have eight core

members and 20 general members from different disciplines;
and two advisors. The advisors and the core members are:
• Abdulla Hil Kafi Advisor
• Raihana Shams Islam Antara Advisor
• Muntasir Ahad Project Engineering Manager
• Mehedi Hassan Electronics & Firmware
• Shahoria A. Durjoy Mechanical design & manufacturing
• Niaz Nafi Rahman Control & AI
• Tohora T. Anupoma Electronics & Communication
• Mehedi Hasan Control & AI
• Farha Hassan Priti Electronics & AI
• MD. Mustaq Mujahid Mechanical design

A PPENDIX B Fig. 12: Flipper CAD Design

CAD D RAWINGS

Fig. 13: Gear Box CAD Design

Fig. 10: CAD Design of BRACU ALTER

A PPENDIX C
L ISTS

A. Systems List
Fig. 11: Expended CAD Sketch
Here is the system list:
ROBOCUP RESCUE 2024 TDP COLLECTION 8

TABLE I: Manipulation System TABLE IV: Software List

Attribute Value Name Version License Usage
Name BRACU ALTER Ubuntu 20.4 open OS
Locomotion tracked ROS Noetic BSD Middleware
System Weight 50kg YOLO 5.0 BSD Hazmat-Detection
Weight including transportation case 56kg OpenCV 2.4.8 BSD Victim detection
Transportation size 0.8 x 1.5 x 0.8 m OpenCV 2.4.8 BSD QR code Detection
Typical operation size 0.6 x 1.1 x 0.6 m Hector SLAM 0.3.4 BSD 2D SLAM
Unpack and assembly time 140 min RTAB 0.21.4 BSD 3D SLAM
Startup time (off to full operation) 15 min Software GUI NA closed source Operator Station
Power consumption (idle/ typical/ max) ND
Battery endurance (idle/ normal/ heavy load) ND
Maximum speed (flat/ outdoor/ rubble pile) ND
Payload (typical, maximum) 2/ 6 kg C. Software List
Arm: maximum operation height 1.1 m In Table-IV we have given the hardware components list.
Arm: payload at full extend 2kg
Support: set of bat. chargers total weight 3kg
Support: set of bat. chargers power ND ACKNOWLEDGMENT
Support: Charge time batteries (80%/ 100%) 40 / 50 min
Support: Additional set of batteries weight 3kg We would like to thank our whole team of BRACU
Cost 15,000 USD ALTER and respected Professor Dr. Arshad M. Chawdhury
(Dean, BSRM School of engineering, BRAC University).
Also, special thanks to the BRAC University for providing
us operational and financial support.
TABLE II: Operator Station
Attribute Value R EFERENCES
Name ALTER-0P
[1] . M. A. Hasan, M., “Risks management of ready-made garments industry
System Weight 4.5kg
in bangladesh. international research journal of business studies,” Inter-
Weight including transportation case 5.5kg
national Research Journal of Business Studies 22017, 2017.
Transportation size 0.4 x 0.4 x 0.2 m
[2] E. Demir, “The turkey/syria earthquake 2023: Theoretical framework
Typical operation size 0.6 x 0.6 x 0.3 m
of post-disaster logistics and its flawed application.” in Journal of
Unpack and assembly time 40 min
Economics, Trade and Marketing Management, vol. 5(2, p47), 2023, p.
Startup time (off to full operation) 10 min
p47.
Power consumption (idle/ typical/ max) ND
[3] R. A. M. S. R. H. T. . D. K. Biswas, A., “Rescue and emergency
Battery endurance (idle/ normal/ heavy load) ND
management of a man-made disaster: Lesson learnt from a collapse
Cost 1000 USD
factory building, bangladesh,” International Research Journal of Business
Studies, pp. 1–8, 2015.
[4] M. Ahad, M. Hassan, S. A. Durjoy, and A. H. Kafi, “Rover circuit
protection: A holistic and comprehensive approach,” in TENCON 2023 -
2023 IEEE Region 10 Conference (TENCON), 2023, pp. 1228–1233.
[5] J. Uddin, M. Ahad, and A. Hil Kafi, “Wireless event-based kill-switch for
B. Hardware Components List safe and autonomous uas operation,” in 2023 International Conference on
Electronics, Information, and Communication (ICEIC), 2023, pp. 1–4.
[6] C. S. G. Grisetti and W. Burgard, “Improved techniques for grid mapping
with rao-blackwellized particle filters,” in IEEE Transactions on Robotics.
IEEE Press, 2007.

In Table-III we have given the hardware components list.

TABLE III: Hardware Components List

Part Brand & Model Unit Price Num.
Drive and Flipper motors Maxon RE 50 200 W 680 USD 6
Drive And Flipper gears Custom made 40 USD 6
Drive encoder Encoder HEDS 5540 120 USD 2
Motor drivers EPOS4 Compact 50/15 CAN 680 USD 2
Battery Management Li-Ion 18650 BMS 50 USD 1
Batteries IMR 26650 4300mAh High-drain Battery – 35A 14 USD 28
Micro controller Raspberry Pi 4 150 USD 1
Computing Unit NVIDIA Jetson AGX Xavier 3000 USD 1
WiFi Adapter TP-Link Deco M9 Plus 200 USD 1
Digital FPV Camera Polar Micro Digital FPV Air Unit Camera Kit 200 USD 2
IP Camera DS-2CE56H0T-ITPF (5MP) Dome CC Camera 150 USD 1
Web Camera Logitech C270 150 USD 1
Thermal camera FLIR Lepton 3.5 150 USD 1
LiDAR Slamtec RPLIDAR A3 360° 350 USD 1
Realsense Camera Intel® RealSense™ Depth Camera D435i 350 USD 1
6-axis Robot Arm Custom made 200 USD 1
Rugged Operator Laptop ASUS VivoBook 15 700 USD 1