Rescue personnel localization system

Saarinen, Jyrki; Heikkila, S.; Elomaa, Mikko; Suomela, Jukka; Halme, Aarne

doi:10.1109/ssrr.2005.1501247

Cited by 17 publications

(4 citation statements)

References 8 publications

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“…An early approach to the design and development of heterogeneous multi-UAV systems for cooperative activities was presented within the COMETS project (real-time coordination and control of multiple heterogeneous unmanned aerial vehicles) [15]. In terms of human-robot collaboration for SAR operations, one of the first EU funded projects in SAR robotics, PeLoTe [19]- [21], designed mobile robots for SAR missions and developed a heterogeneous telematic system for cooperative (human-robot) SAR operations. Other international projects designing and developing autonomous multi-robot systems for SAR operations include the NIFTi EU project (natural human-robot cooperation in dynamic environments) [16], ICARUS (unmanned SAR) [18], [22], TRADR (long-term human-robot teaming for disaster response) [17], [23], [24], or SmokeBot (mobile robots with novel environmental sensors for inspection of disaster sites with low visibility) [25], [26].…”

Section: International Projects and Competitionsmentioning

confidence: 99%

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

et al. 2020

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Search and rescue (SAR) operations can take significant advantage from supporting autonomous or teleoperated robots and multi-robot systems. These can aid in mapping and situational assessment, monitoring and surveillance, establishing communication networks, or searching for victims. This paper provides a review of multi-robot systems supporting SAR operations, with system-level considerations and focusing on the algorithmic perspectives for multi-robot coordination and perception. This is, to the best of our knowledge, the first survey paper to cover (i) heterogeneous SAR robots in different environments, (ii) active perception in multi-robot systems, while (iii) giving two complementary points of view from the multi-agent perception and control perspectives. We also discuss the most significant open research questions: shared autonomy, sim-to-real transferability of existing methods, awareness of victims' conditions, coordination and interoperability in heterogeneous multi-robot systems, and active perception. The different topics in the survey are put in the context of the different challenges and constraints that various types of robots (ground, aerial, surface, or underwater) encounter in different SAR environments (maritime, urban, wilderness, or other post-disaster scenarios). The objective of this survey is to serve as an entry point to the various aspects of multi-robot SAR systems to researchers in both the machine learning and control fields by giving a global overview of the main approaches being taken in the SAR robotics area.

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Section: International Projects and Competitionsmentioning

confidence: 99%

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

et al. 2020

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“…The Personal Navigation System (PeNa) [20] of the PeLoTe projects [7] is designed to be a stand-alone high-tech localization system. The position estimate is achieved by dead reckoning and map-based localization.…”

Section: Related Workmentioning

confidence: 99%

An enhanced indoor positioning system for first responders

Faramondi

Inderst

Pascucci

et al. 2013

International Conference on Indoor Positioning and Indoor Navigation

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Localization and tracking support is useful in many contexts and becomes crucial in emergency response scenarios: being aware of team location is one of the most important knowledge for incident commander. In this work both localization and tracking for rescuers are addressed in the framework of REFIRE project. The designed positioning system is based on the wellknown prediction-correction schema adopted in field robotics. Proprioceptive sensors, i.e., inertial sensors and magnetometer, mounted on the waist of the rescuers, are used to form a coarse estimation of the locations. Due to the drift of inertial sensors, the position estimate needs to be updated by exteroceptive sensors, i.e., RFID system composed by tags embedded in the emergency signs as exteroceptive sensors and a wearable tag-reader. In long-lasting mission RFID tags reset the drift by providing a positioning having room-level accuracy.

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“…The proposed solution consisted of a fire-fighter localization system [20], teleoperated robots [21] and an information fusion scheme to synthesize a common model from acquired data. One of the key contributions of the project was that it was experimentally shown that position information is critical in maintaining common situation awareness among the distributed team.…”

Section: E Mapping and Search-and-rescue Roboticsmentioning

confidence: 99%

Localization Services for Online Common Operational Picture and Situation Awareness

et al. 2013

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Many operations, be they military, police, rescue, or other field operations, require localization services and online situation awareness to make them effective. Questions such as how many people are inside a building and their locations are essential. In this paper, an online localization and situation awareness system is presented, called Mobile Urban Situation Awareness System (MUSAS), for gathering and maintaining localization information, to form a common operational picture. The MUSAS provides multiple localization services, as well as visualization of other sensor data, in a common frame of reference. The information and common operational picture of the system is conveyed to all parties involved in the operation, the field team, and people in the command post. In this paper, a general system architecture for enabling localization based situation awareness is designed and the MUSAS system solution is presented. The developed subsystem components and forming of the common operational picture are summarized, and the future potential of the system for various scenarios is discussed. In the demonstration, the MUSAS is deployed to an unknown building, in an ad hoc fashion, to provide situation awareness in an urban indoor military operation.

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Rescue personnel localization system

Cited by 17 publications

References 8 publications

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

An enhanced indoor positioning system for first responders

Localization Services for Online Common Operational Picture and Situation Awareness

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