Human–Robot Interaction in Rescue Robotics

Rescue robotics has been suggested by a recent DARPA/NSF study as an application domain for the research in human-robot integration (HRI). This paper provides a short tutorial on how robots are currently used in urban search and rescue (USAR) and discusses the HRI issues encountered over the past eight years. A domain theory of the search activity is formulated. The domain theory consists of two parts: 1) a workflow model identifying the major tasks, actions, and roles in robot-assisted search (e.g., a workflow model) and 2) a general information flow model of how data from the robot is fused by various team members into information and knowledge. The information flow model also captures the types of situation…