ABSTRACT This paper proposes RUR53: an Unmanned Ground Vehicle able to navigate through, identify, and reach areas of interest. There, it can recognize, localize, and manipulate work tools to perform both indoor and outdoor complex tasks. Indeed, a wide range of sensors composes the robot and enables it to perceive vast workspaces, reach distant targets, and face the uncertainties of the real world. Precise object detection is also guaranteed, essential to manipulate objects of different shapes and materials. Moreover, a customized 3-finger gripper makes the gripping mode suitable for any lightweight object. Two modalities are proposed: autonomous and teleoperated, letting both unskilled and skilled human operators easily adapt the system to complete personalized tasks. The paper exhaustively describes RUR53 architecture and demonstrates its good performance while executing both indoor and outdoor navigation and manipulation tasks. A specific case study is described where the proposed modular architecture allows to easily switch to a semi-teleoperated mode: the 2017 Mohamed Bin Zayed International Robotics Challenge, where our team ranked third in the Grand Challenge in collaboration with the Czech Technical University in Prague, the University of Pennsylvania, and the University of Lincoln (UK). GRAPHICAL ABSTRACT

中文翻译：

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RUR53：用于导航、识别和操纵的无人地面车辆

摘要 本文提出了 RUR53：一种能够导航、识别和到达感兴趣区域的无人地面车辆。在那里，它可以识别、定位和操纵工作工具以执行室内和室外的复杂任务。事实上，机器人由各种传感器组成，使其能够感知广阔的工作空间、到达遥远的目标并面对现实世界的不确定性。还可以保证精确的物体检测，这对于操纵不同形状和材料的物体至关重要。此外，定制的三指夹持器使夹持模式适用于任何轻量物体。提出了两种模式：自主和远程操作，让非熟练和熟练的人类操作员轻松调整系统以完成个性化任务。该论文详尽地描述了 RUR53 架构，并展示了其在执行室内和室外导航和操作任务时的良好性能。描述了一个特定的案例研究，其中提议的模块化架构允许轻松切换到半远程操作模式：2017 年穆罕默德·本·扎耶德国际机器人挑战赛，我们的团队与布拉格捷克技术大学合作在大挑战赛中排名第三，宾夕法尼亚大学和林肯大学（英国）。图形概要 我们的团队与布拉格的捷克技术大学、宾夕法尼亚大学和林肯大学（英国）合作，在大挑战中排名第三。图形概要 我们的团队与布拉格的捷克技术大学、宾夕法尼亚大学和林肯大学（英国）合作，在大挑战中排名第三。图形概要