Robotic systems need advanced mobility capabilities to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some level of autonomy enables robots to operate robustly, reliably, and efficiently in such complex environments, e.g., automatically "returning home" if communication between an operator and robot is lost during deployment. This work presents a novel method that enables mobile robots to robustly operate in multi-level environments by making it possible to autonomously locate and climb a range of different staircases. We present results wherein a wheeled robot works together with a quadrupedal system to quickly detect different staircases and reliably climb them. The performance of this novel staircase detection algorithm that is able to run on the heterogeneous platforms is compared to the current state-of-the-art detection algorithm. We show that our approach significantly increases the accuracy and speed at which detections occur.

翻译：机器人系统需要先进的移动能力才能在复杂、三维的人类使用环境中运行,例如多层建筑。纳入某种程度的自主性使机器人能够在这种复杂环境中以强健、可靠和高效的方式运行,例如,如果操作者和机器人在部署过程中失去通信,自动“返家”。这项工作提出了一种新的方法,使移动机器人能够在多层环境中进行稳健运行,使移动机器人能够自主定位并攀登一系列不同的楼梯。我们介绍了轮式机器人与四轨系统一起工作的结果,以快速探测不同的楼梯并可靠地攀登这些楼梯。能够运行在不同平台上的新式楼梯检测算法的性能与目前最先进的检测算法相比较。我们表明,我们的方法大大提高了探测的准确性和速度。</s>