Human-Robot Teaming for Search and Rescue

Authors:
Illah R. Nourbakhsh;Katia Sycara;Mary Koes;Mark Yong;Michael Lewis;Steve Burion
Affiliations:
The Robotics Institute;The Robotics Institute;The Robotics Institute;The Robotics Institute;University of Pittsburgh;Swiss Federal Institute of Technology (EPFL)
Venue:
IEEE Pervasive Computing
Year:
2005

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Abstract

Urban Search and Rescue is a rich and challenging domain for studying robotics, human-robot interaction, and distributed, coordinated mobile computation. This article describes the NIST standardized USAR environment and presents the development of its robotic and simulation-driven systems. Developing the physical and simulation systems in parallel offers many advantages. This work has three areas of technical contributions: the authors' agent-based architecture for distributed, computationally enabled mobile rescue teams, their approach to sensor fusion for victim discovery in USAR; and their approach to control interface design for increased human-operator situation awareness during robot control. They're proven their project architecture through both real-world and high-fidelity, simulated human-robot rescue demonstrations. They won third place at the national RoboCup Rescue competition in April 2004.