The EU-ICARUS project: Developing assistive robotic tools for search and rescue operations

Cubber, Geert De; Doroftei, Daniela; Serrano, Daniel; Chintamani, Keshav; Sabino, Rui; Ourevitch, Stephane

doi:10.1109/ssrr.2013.6719323

Cited by 76 publications

(60 citation statements)

References 5 publications

(6 reference statements)

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“…The ICARUS C2I [18] is a complex system providing the end-users with multiple user interfaces at various operation levels. For example, the MPCS is aimed at mission managers and mission planners; the RC2 is aimed at robot operators, and the mobile application is for rescue workers.…”

Section: End-user Involvementmentioning

confidence: 99%

Command and Control Systems for Search and Rescue Robots

Govindaraj¹,

Letier²,

Chintamani³

et al. 2017

Search and Rescue Robotics - From Theory to Practice

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The novel application of unmanned systems in the domain of humanitarian Search and Rescue (SAR) operations has created a need to develop speciic multi-Robot Command and Control (RC2) systems. This societal application of robotics requires human-robot interfaces for controlling a large leet of heterogeneous robots deployed in multiple domains of operation (ground, aerial and marine). This chapter provides an overview of the Command, Control and Intelligence (C2I) system developed within the scope of Integrated Components for Assisted Rescue and Unmanned Search operations (ICARUS). The life cycle of the system begins with a description of use cases and the deployment scenarios in collaboration with SAR teams as end-users. This is followed by an illustration of the system design and architecture, core technologies used in implementing the C2I, iterative integration phases with ield deployments for evaluating and improving the system. The main subcomponents consist of a central Mission Planning and Coordination System (MPCS), ield Robot Command and Control (RC2) subsystems with a portable force-feedback exoskeleton interface for robot arm tele-manipulation and ield mobile devices. The distribution of these C2I subsystems with their communication links for unmanned SAR operations is described in detail. Field demonstrations of the C2I system with SAR personnel assisted by unmanned systems provide an outlook for implementing such systems into mainstream SAR operations in the future.Keywords: command and control, human machine interfacing © 2017 The Author(s). Licensee InTech. This chapter is distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. IntroductionThis chapter describes the concepts and features behind the command, control and intelligence (C2I) system developed in the ICARUS project, which aims at improving crisis management with the use of unmanned search and rescue (SAR) robotic appliances embedded and integrated into existing infrastructures. A beneicial C2I system should assist the search and rescue process by enhancing irst responder situational awareness, decision-making and crisis handling by designing intuitive user interfaces that convey detailed and extensive information about the crisis and its evolution.The diferent components of C2I, their architectural and functional aspects are described along with the robot platform used for development and ield testing in Figure 1. This section also provides an elicitation and analysis of the ICARUS C2I system requirements and the overall system and subsystem components' architecture (hardware and software), along with the interfaces and data shared between these components. The objective is to provide a static and dynamic view of the structure and hierarchy within the components of this system.There have been recent eforts [1, 2, 3] where C2I robots have been deplo...

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Section: End-user Involvementmentioning

confidence: 99%

Command and Control Systems for Search and Rescue Robots

Govindaraj¹,

Letier²,

Chintamani³

et al. 2017

Search and Rescue Robotics - From Theory to Practice

Self Cite

View full text Add to dashboard Cite

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“…I.e. the values start at zero, are incremented each after 10 s, • Experiment B: Some SAR missions propose to use cell phone networks [3] as one part of their communication infrastructure. Hence, a real-world data set called Car Snaroya Smestad 2 [16] is chosen to test the system under realistic bandwidth settings for such cell phone networks.…”

Section: A Experimental Objectives and Hypothesesmentioning

confidence: 99%

“…With the advent of agile and versatile robot platforms, operating in the air, underwater and on the ground the development of Search and Rescue (SAR) missions [1] in unstructured and harsh environments such as alpine [2], maritime [3], and desaster [4] settings is becoming more and more a reality. In these application scenarios mixed teams of autonomous and semi-autonomous heterogenous agents such as humans, robots, and distributed sensors need to collaborate in order to achieve their tasks.…”

Section: Introductionmentioning

confidence: 99%

An approach for a distributed world model with QoS-based perception algorithm adaptation

Blumenthal

Hochgeschwender

Prassler

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-This paper presents a distributed world model that is able to adapt to changes in the Quality of Service (QoS) of the communication layer by online reconfiguration of perception algorithms. The approach consists of (a) a mechanism for storage, exchange and processing of world model data and (b) a feedback loop that incorporates reasoning techniques to adapt to QoS changes immediately. The latter introduces a Level of Detail (LoD) metric based on a spatial resolution in order to infer an upper bound for the amount of data that can be transmitted without violating an application specific transmission delay.Experiments have been performed with Octree-based subsampling techniques applied to data originating from a RGB-D camera using simulated and real-world data sets for timevarying bandwidth values as employed QoS measure.

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“…The search and rescue robot platform described here was developed in the context of the EU-FP7-ICARUS project [15]. The ICARUS project deals with the development of a set of integrated components to assist search and rescue teams in dealing with the difficult and dangerous, but lifesaving task of finding human survivors.…”

Section: Search and Rescue Robot Platformmentioning

confidence: 99%

Teodor: A Semi-Autonomous Search and Rescue and Demining Robot

Cubber

Balta

Lietart

2014

AMM

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Abstract. In this paper, we present a ground robotic system which is developed to deal with rough outdoor conditions. The platform is to be used as an environmental monitoring robot for 2 main application areas: 1) Humanitarian demining: The vehicle is equipped with a specialized multichannel metal detector array. An unmanned aerial system supports it for locating suspected locations of mines, which can then be confirmed by the ground vehicle. 2) Search and rescue: The vehicle is equipped with human victim detection sensors and a 3D camera enabling it to assess the traversability of the terrain in front of the robot in order to be able to navigate autonomously. This paper discusses both the mechanical design of these platforms as the autonomous perception capabilities on board of these vehicles.

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The EU-ICARUS project: Developing assistive robotic tools for search and rescue operations

Cited by 76 publications

References 5 publications

Command and Control Systems for Search and Rescue Robots

Command and Control Systems for Search and Rescue Robots

An approach for a distributed world model with QoS-based perception algorithm adaptation

Teodor: A Semi-Autonomous Search and Rescue and Demining Robot

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