Skip to main content

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

Part of the Springer Tracts in Advanced Robotics book series (STAR,volume 92)

Abstract

The paper describes experience with applying a user-centric design methodology in developing systems for human-robot teaming in Urban Search and 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.

Keywords

  • Situation Awareness
  • Autonomous Navigation
  • Robot Behavior
  • Command Post
  • Automatic Speech Recognizer

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

The paper reports research funded by the EU FP7 ICT program, Cognitive Systems and Robotics unit, under contract 247870, “NIFTi” (http://www.nifti.eu)

This is a preview of subscription content, access via your institution.

Buying options

Chapter
USD   29.95
Price excludes VAT (USA)
  • DOI: 10.1007/978-3-642-40686-7_8
  • Chapter length: 15 pages
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
eBook
USD   149.00
Price excludes VAT (USA)
  • ISBN: 978-3-642-40686-7
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
Hardcover Book
USD   249.99
Price excludes VAT (USA)
Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8

Notes

  1. 1.

    Relations between questions are indicated in brackets, e.g. (4) means a relation to question 4.

References

  1. J.F. Allen, C.R. Perrault, Analyzing intention in utterances. Artif. Intell. 15(3) (1980)

    Google Scholar 

  2. J.F. Allen, D.J. Litman. Discourse processing and common sense plans. In P.R. Cohen, J. Morgan, M. Pollack (eds.), Intentions and Communication. The MIT Press, 1990

    Google Scholar 

  3. A. Birk, S. Carpin, Rescue robotics—a crucial milestone on the road to autonomous systems. Adv. Robot. 20(5), 595–605 (2006)

    CrossRef  Google Scholar 

  4. J.L. Burke, R.R. Murphy, M. Coovert, D. Riddle. Moonlight in Miami: An ethnographic study of human-robot interaction in USAR. Hum. Comput. Interact. 19(1–2), 85–116 (2004)

    Google Scholar 

  5. J. Carlson, R.R. Murphy, How UGVs physically fail in the field. IEEE Trans. Rob. 21(3), 423–437 (2005)

    Google Scholar 

  6. H. Clark, Using Language (Cambridge University Press, Cambridge, 1996)

    Google Scholar 

  7. A. Finzi, F. Pirri, Representing flexible temporal behaviors in the situation calculus, in Proceedings of the 19th International Joint Conference on Artificial Intelligence, IJCAI’05, (Morgan Kaufmann Publishers Inc, San Francisco, 2005), pp. 436–441

    Google Scholar 

  8. T. Fong, C. Thorpe, C. Baur, Multi-robot remote driving with collaborative control. IEEE Trans. Indus. Electron. 54(4), 699–704 (2003)

    CrossRef  Google Scholar 

  9. M. Gianni, P. Papadakis, F. Pirri, M. Liu, F. Pomerleau, F. Colas, K. Zimmerman, T. Svoboda, T. Petricek, G. J. M. Kruijff, H. Zender, Khambhaita, A unified framework for planning and execution-monitoring of mobile robots, in Proceedings of the AAAI-11 Workshop on Automated Action Planning for Autonomous Mobile Robots, 2011

    Google Scholar 

  10. M. Gianni, P. Papadakis, F. Pirri, M. Pizzoli, Awareness in mixed initiative planning, in AAAI Fall Symposium Series, 2011

    Google Scholar 

  11. B.J. Grosz, C.L. Sidner, Attention, intention and the structure of discourse. Computat. Linguist. 12(3), 175–204 (1986)

    Google Scholar 

  12. C. Jansen, J.B.F. van Erp. Telepresence control of unmanned systems. in M. Barnes, F. Jentsch, eds. Human-Robot Interactions in Future Military Operations (Ashgate Publishing Limited, Hampshire, 2010), pp. 251–270

    Google Scholar 

  13. M. Johnson, J.M. Bradshaw, P.J. Feltovich, R.R. Hoffman, C. Jonker, B. van Riemsdijk, M. Sierhuis, Beyond cooperative robotics: the central role of interdependence in coactive design. IEEE Intelligent Systems, pp. 81–88, May/June 2011

    Google Scholar 

  14. S. Keshavdas, H. Zender, G.J.M Kruijff, M. Liu, F. Colas, Functional mapping: spatial inferencing to aid human-robot rescue efforts in unstructured disaster environments, in Proceedings of the 2012 AAAI Spring Symposium on Designing Intelligent Robots (2012)

    Google Scholar 

  15. H. Khambhaita, G.J.M. Kruijff, M. Mancas, M. Gianni, P. Papadakis, F. Pirri, M. Pizzoli, Help me to help you: how to learn intentions, actions and plans, in Proceedings of AAAI Spring Symposium Help Me Help You: Bridging the Gaps in Human-Agent Collaboration, March 2011

    Google Scholar 

  16. G. Klein, D.D. Woods, J.M. Bradshaw, R. Hoffman, P. Feltovich, Ten challenges for making automation a team player in joint human-agent activity. IEEE Intell. Syst. 19(6), 91–95, Nov–Dec 2004

    Google Scholar 

  17. T. Komatsu, S. Yamada, Adaptation gap hypothesis: how differences between users’ expected and perceived agent functions affect their subjective impression. J. Syst. Cybern. Inform. 9(1), 67–74 (2011)

    Google Scholar 

  18. G.J.M. Kruijff, M. Janíček, Using doctrines for human-robot collaboration to guide ethical behaviour. in Proceedings of the AAAI 2011 Fall Symposium Robot-Human Team-Work in Dynamic Adverse Environments. AAAI, 2011

    Google Scholar 

  19. G.J.M. Kruijff, M. Janíček, P. Lison, Continual processing of situated dialogue in human-robot collaborative activities. in Proceedings of the 19th International Symposium on Robot and Human Interactive Communication (RO-MAN 2010). IEEE, 2010

    Google Scholar 

  20. G.J.M. Kruijff, M. Janíček, and H. Zender, Situated communication for joint activity in human-robot teams. IEEE Intell. Syst. 272, 27–35 (2012) forthcoming

    Google Scholar 

  21. B. Larochelle, G.J.M. Kruijff, N. Smets, T. Mioch, P. Groenewegen, Establishing human situation awareness using a multi-modal operator control unit in an urban search and rescue human-robot team. in Proceedings of the 20th IEEE International Symposium on Robot and Human Interactive Communication. IEEE, 2011

    Google Scholar 

  22. M. Liu, F. Colas, R. Siegwart. Regional topological segmentation based on mutual information graphs. in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2011

    Google Scholar 

  23. M. Lohse. The role of expectations and situations in human-robot interaction. In K. Dautenhahn, J. Saunders, eds. New Frontiers in Human-Robot Interaction (John Benjamins, Amsterdam, 2011) pp. 35–56

    Google Scholar 

  24. C. Miller, R. Parasuraman, Designing for flexible interaction between humans and automation: delegation interfaces for supervisory control. Hum. Factors 49, 57–75 (2007)

    CrossRef  Google Scholar 

  25. R.R. Murphy, Human-robot interaction in rescue robotics. IEEE Trans. Syst. Man Cybern. Part C Appl. Rev. 34(2), 138–153 (2004)

    CrossRef  Google Scholar 

  26. R.R. Murphy, J.L. Burke, The safe human-robot ratio. in M.J. Barnes, F. Jentsch, eds. Human-Robot Interactions in Future Military Operations, Human Factors in Defence (Ashgate, Florida, 2010), pp. 31–49

    Google Scholar 

  27. R.R. Murphy, S. Tadokoro, D. Nardi, A. Jacoff, P. Fiorini, H. Choset, A.M. Erkmen. Search and rescue robotics. in B. Siciliano, O. Khatib, eds. Springer Handbook of Robotics (Springer, Berlin, 2008), Part F, pp. 1151–1173

    Google Scholar 

  28. T. Oron-Gilad, P.A. Hancock, Multi-modal information display under stress. in P.A. Hancock, J.L. Szalma, eds. Performance Under Stress, Human Factors in Defence (Ashgate, Florida, 2008), pp. 251–270

    Google Scholar 

  29. P. Papadakis, I. Pratikakis, S. Perantonis, T. Theoharis, Efficient 3d shape matching and retrieval using a concrete radialized spherical projection representation. Pattern Recognit. 40(9), 2437–2452 (2007)

    CrossRef  MATH  Google Scholar 

  30. E.G. Papadopoulos, D.A. Rey. A new measure of tipover stability margin for mobile manipulators. in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3111–3116, 1996

    Google Scholar 

  31. R. Parasuraman, M. Barnes, K. Cosenzo, Adaptive automation for human-robot teaming in future command and control systems. Int. J. Command Control 1(2), 43–68 (2007)

    Google Scholar 

  32. F. Pirri, The well-designed logical robot: learning and experience from observations to the situation calculus. Artif. Intell. 175(1), 378–415 (2011)

    Google Scholar 

  33. F. Pomerleau, S. Magnenat, F. Colas, M. Liu, R. Siegwart, Tracking a depth camera: parameter exploration for fast icp. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2011)

    Google Scholar 

  34. P.M. Salmon, N.A. Stanton, G.H. Walker, D.P. Jenkins, Distributed Situation Awareness: Theory, Measurement, and Application to Teamwork (Ashgate, Human Factors in Defence, 2009)

    Google Scholar 

  35. K. Stubbs, P.J. Hinds, D. Wettergreen, Autonomy and common ground in human-robot interaction: A field study. IEEE Intell. Syst. 22, 42–50 (2007) (Special Issue on Interacting with Autonomy)

    Google Scholar 

  36. J. van Diggelen, K. van Drimmelen, A. Heuvelink, P.J.M. Kerbusch, M.A. Neerincx, S.M.A van Trijp, E.M. Ubink, and B. van der Vecht. Mutual empowerment in mobile soldier support. Special Issue of the International Journal of Battlefield Technology on Human Factors and Battlefield Technologies. submitted.

    Google Scholar 

  37. D.D. Woods, J. Tittle, M. Feil, A. Roesler, Envisioning human-robot coordination for future operations. IEEE Trans. Syst. Man Cybern. Part C Appl. Rev. 34(2), 210–218 (2004)

    Google Scholar 

  38. K. Zimmermann, D. Hurych, T. Svoboda, Improving cascade of classifiers by sliding window alignment in between. in The 5th International Conference on Automation, Robotics and Applications. IEEE, 2011

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to G. J. M. Kruijff .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and Permissions

Copyright information

© 2014 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Kruijff, G.J.M. et al. (2014). Experience in System Design for Human-Robot Teaming in Urban Search and Rescue. In: Yoshida, K., Tadokoro, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 92. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40686-7_8

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-40686-7_8

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40685-0

  • Online ISBN: 978-3-642-40686-7

  • eBook Packages: EngineeringEngineering (R0)