Integration of sensory data taken by multiple rescue robots using GIS

We propose a framework to collect spatial information acquired by sensor devices mounted on multiple rescue robots to generate an integrated map to help first responders. In order to utilize the multiple robots, matching and adjustment of spatial data is an important function for the geographical information database. We design flexible handling mechanism of coordinate reference systems for the spatial data and formats to represent sensing information. The proposed framework are tested by competitions of RoboCupRescue league, in which our system shows effective integration of information acquired by different kind of sensor devices on robots.