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Experience in system design for human-robot teaming in urban search & rescue

: Kruijff, Geert-Jan; Janicek, Miroslav; Keshavdas, Shanker; Larochelle, Benoit; Zender, Hendrik; Smets, N.J.J.M.; Mioch, T.; Neerincx, M.A.; Diggelen, J. van; Colas, F.; Liu, M.; Pomerleau, F.; Siegwart, R.; Hlavac, V.; Svoboda, T.; Petricek, T.; Reinstein, M.; Zimmermann, K.; Pirri, F.; Gianni, M.; Papadakis, P.; Sinha, A.; Balmer, P.; Tomatis, N.; Worst, Rainer; Linder, T.; Surmann, H.; Tretyakov, V.; Corrao, S.; Pratzler-Wanczura, S.; Sulk, M.

Preprint urn:nbn:de:0011-n-2341602 (5.5 MByte PDF)
MD5 Fingerprint: e644d06bc5bbf110f557eff2c50dd4fb
Erstellt am: 21.3.2013

Yoshida, K.:
Field and service robotics : Results of the 8th international conference; FSR 2012; 16 July 2012, the first day of the conference held in Tohoku University then, three days were followed in Matsushima on 17-19 July
Berlin: Springer, 2014 (Springer Tracts in Advanced Robotics 92)
ISBN: 3-642-40685-8
ISBN: 978-3-642-40685-0 (Print)
ISBN: 978-3-642-40686-7 (Online)
International Conference on Field and Service Robotics (FSR) <8, 2012, Matsushima>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IAIS ()
urban search and rescue; human-robot team; semi-autonomous robots; tunnel accident

The 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.