Velocity-Based Heuristic Evaluation for Path Planning and Vehicle Routing for Victim Assistance in Disaster Scenarios

Toscano-Moreno, Manuel; Mandow, Anthony; Martínez, M.a Dolores Barrios; García-Cerezo, Alfonso

doi:10.1007/978-3-030-36150-1_10

Cited by 5 publications

(3 citation statements)

References 14 publications

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“…To do this, a path planner establishes its route according to a destination set by an operator located at a control center or due to the trigger of some event detected (with higher or lower priority) in some area of interest. The purpose of this paper is not to explain the importance of a strategic planner in SAR tasks, neither how it works [42], [43], but this resource developed and implemented by the Robotics and Mechatronics Lab [2] will be used, just like it would be in a realistic scenario.…”

Section: Resultsmentioning

confidence: 99%

Bluetooth Low Energy for Close Detection in Search and Rescue Missions With Robotic Platforms: An Experimental Evaluation

Cantizani-Estepa¹,

Bravo-Arrabal²,

Lozano³

et al. 2022

IEEE Access

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In the field of rescue robotics, data collection about the environment and efficient communications are fundamental for the success of search and rescue missions. Digitalization provides new ways of detecting and localizing potential victims via the wireless devices carried by the users. Nowadays, the number of personal Bluetooth low energy wearables in use (smartbands, smartwatches, earbuds...) increases constantly, being a yet-to-be-exploited personal radio frequency beacon in the case of an emergency, where the user may not be localized and unconscious. In this paper, the results of experimental tests of a Bluetooth low energy based detection system ported by terrestrial and aerial robots are provided, in order to test the feasibility of such system for the localization of the victims in unknown complex disaster areas. The results show that the tested devices can be reliably detected up to 15 meters away when using transmission power values typical of a smartphone, while being able to detect even lightly burdened devices. These results support the idea of developing an algorithm for the delimitation of areas of interest for the search and rescue groups, influencing the routes followed by the robot with the objective of exploring the detected devices area in the search of victims.

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Section: Resultsmentioning

confidence: 99%

Bluetooth Low Energy for Close Detection in Search and Rescue Missions With Robotic Platforms: An Experimental Evaluation

Cantizani-Estepa¹,

Bravo-Arrabal²,

Lozano³

et al. 2022

IEEE Access

Self Cite

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“…Each of the motors is controlled by an embedded board which integrates a microcontroller and an independent Hbridge power stage (see Table 1). Rambler follows a path planned and shown in a GUI developed by our research group [84], [85], which has been integrated with original software developments made for the H-WSNs experiments. The second most relevant vehicle is an 8x8 extreme terrain manned vehicle (see Figure 5) manufactured by Argo, the Argo XTI [86], with custom modifications, such as a thermal imaging camera and a LiDAR, to meet the needs of our research group.…”

Section: Search and Rescue Exercisesmentioning

confidence: 99%

Realistic Deployment of Hybrid Wireless Sensor Networks Based on ZigBee and LoRa for Search and Rescue Applications

Bravo-Arrabal,

Zambrana,

Fernandez-Lozano

et al. 2022

IEEE Access

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Search and Rescue operations in emergency response to natural or human catastrophes have the main objective of locating and rescuing potential victims as fast as possible, thus quick response and accurate actions being mandatory. While standard communications may be affected, a Wireless Sensor Network can be deployed to support the rescue team. This kind of network allows data acquisition close to events and enable persistence over time, among other advantages. However, to adapt to the requirements of this kind of scenario, enhancements must be made. This work presents two Hybrid Wireless Sensor Networks, based on ZigBee and LoRa, developed to address some of the challenges that Search and Rescue operations pose to the use of Wireless Sensor Networks, and tested in realistic scenarios in cooperation with first responders. Likewise, several software developments that increase the performance of the networks are described. Finally, the conclusions presented, and the lessons learnt are supported by a high amount of data, gathered in realistic exercises in cooperation with civilian and military first responders.INDEX TERMS Graphical user interfaces, Mobile robots, Search and rescue, Emergency services, ZigBee, LoRa, Internet of things.

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“…It has a good computation time but the obtained path length is longer than the optimal one. A variation using heuristic on A* and D* algorithms is implemented in Reference [19]. They obtain good path planning results, reducing the computation cost, although this cost depends on the number of matrices to calculate.…”

Section: Related Workmentioning

confidence: 99%

Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion

Ruíz

Calderita

Hidalgo-Paniagua

et al. 2020

Sensors

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Social robots, designed to interact and assist people in social daily life scenarios, require adequate path planning algorithms to navigate autonomously through these environments. These algorithms have not only to find feasible paths but also to consider other requirements, such as optimizing energy consumption or making the robot behave in a socially accepted way. Path planning can be tuned according to a set of factors, being the most common path length, safety, and smoothness. This last factor may have a strong relation with energy consumption and social acceptability of produced motion, but this possible relation has never been deeply studied. The current paper focuses on performing a double analysis through two experiments. One of them analyzes energy consumption in a real robot for trajectories that use different smoothness factors. The other analyzes social acceptance for different smoothness factors by presenting different simulated situations to different people and collecting their impressions. The results of these experiments show that, in general terms, smoother paths decrease energy consumption and increase acceptability, as far as other key factors, such as distance to people, are fulfilled.

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Velocity-Based Heuristic Evaluation for Path Planning and Vehicle Routing for Victim Assistance in Disaster Scenarios

Cited by 5 publications

References 14 publications

Bluetooth Low Energy for Close Detection in Search and Rescue Missions With Robotic Platforms: An Experimental Evaluation

Bluetooth Low Energy for Close Detection in Search and Rescue Missions With Robotic Platforms: An Experimental Evaluation

Realistic Deployment of Hybrid Wireless Sensor Networks Based on ZigBee and LoRa for Search and Rescue Applications

Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion

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