A Robot Swarm Assisting a Human Fire-Fighter

Abstract

Emergencies in industrial warehouses are a major concern for fire fighters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also the means to locate the robots and humans. Thus the robot swarm is able to provide guidance information to the humans. Together with the fire fighters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings.keywords: Swarm robotics, search and rescue, human robot (swarm) interface, mobile ad-hoc networks.

Experience of using a haptic interface to follow a robot without visual feedback

“…The Guardians project [13] pioneered a group of autonomous mobile robots assisting a human rescue worker operating within close range. Trials were held with fire fighters and it became clear that the subjects by no means were prepared to give up their procedural routine and the feel of security provided: they simply ignored instructions that contradicted their routines.…”

“…No-visibility Search and rescue operations in fire incidents, are undertaken only when the ground is relatively passable [13]; the major problem however is that the environment is smoke-filled and noisy. Rescue teams have to rely on haptic feedback for exploration and navigation.…”

Adoption of Vehicular Ad Hoc Networking Protocols by Networked Robots

“…This scenario is regarded as a major concern by fire fighters because of the combination of the enormous dimensions of the warehouses and the expected low visibility when smoke develops. Penders et al [13] developed a robot swarm to support human beings searching the warehouse. In this system, the human fire fighters are fully autonomous and go their own way.…”

An Evacuation Decision Making Model for Firefighters in Ad Hoc Robot Network

“…The evacuation decision making may be suitable for the situation when the firefighter has already finished rescuing task and ready to leave the fire scene. The authors in [13] informally clocked a guideline following exercise by experienced fire fighters: they progressed at crawling speed 12m in about one minute. The amount of oxygen contained in the breathing apparatus suffices for about 20 minutes.…”