Functional Mapping: Spatial Inferencing to Aid Human-Robot Rescue Efforts in Unstructured Disaster Environments

International audienceIn this paper we examine the case of a mobile robot that is part of a human-robot urban search and rescue (USAR) team. During USAR scenarios, we would like the robot to have a geometrical-functional understanding of space, using which it can infer where to perform planned tasks in a manner that mimics human behavior. We assess the situation awareness of rescue workers during a simulated USAR scenario and use this as an empirical basis to build our robot's spatial model. Based upon this spatial model, we present " functional mapping " as an approach to identify regions in the USAR environment where planned tasks are likely to be optimally achievable. The system is deployed and evaluated in a simulated rescue scenario

Designing, developing, and deploying systems to support human–robot teams in disaster response

International audienceThis paper describes our experience in designing, developing and deploying systems for supporting human-robot teams during disaster response. It is based on R&D performed in the EU-funded project NIFTi. NIFTi aimed at building intelligent, collaborative robots that could work together with humans in exploring a disaster site, to make a situational assessment. To achieve this aim, NIFTi addressed key scientific design aspects in building up situation awareness in a human-robot team, developing systems using a user-centric methodology involving end users throughout the entire R&D cycle, and regularly deploying implemented systems under real-life circumstances for experimentation and testing. This has yielded substantial scientific advances in the state-of-the-art in robot mapping, robot autonomy for operating in harsh terrain, collaborative planning, and human-robot interaction. NIFTi deployed its system in actual disaster response activities in Northern Italy, in July 2012, aiding in structure damage assessment

Experience in System Design for Human-Robot Teaming in Urban Search & Rescue

International audienceThe paper describes experience with applying a user-centric design methodology in developing systems for human-robot teaming in Urban Search & Rescue. A human-robot team consists of several semi-autonomous robots (rovers/UGVs, microcopter/UAVs), several humans at an off-site command post (mission commander, UGV operators) and one on-site human (UAV operator). This system has been developed in close cooperation with several rescue organizations, and has been deployed in a real-life tunnel accident use case. The human-robot team jointly explores an accident site, communicating using a multi-modal team interface, and spoken dialogue. The paper describes the development of this complex socio-technical system per se, as well as recent experience in evaluating the performance of this system