MIOM: A Mixed-Initiative Operational Model for Robots in Urban Search and Rescue
In this paper, we describe a Mixed-Initiative Operational
Model (MIOM) which directly intervenes on the state of the
functionalities embedded into a robot for Urban Search&Rescue
(USAR) domain applications. MIOM extends the reasoning
capabilities of the vehicle, i.e. mapping, path planning, visual
perception and trajectory tracking, with operator knowledge.
Especially in USAR scenarios, this coupled initiative has the main
advantage of enhancing the overall performance of a rescue mission.
In-field experiments with rescue responders have been carried out to
evaluate the effectiveness of this operational model.
[1] J. Casper, M. Micire, and R. R. Murphy, “Issues in intelligent robots
for search and rescue,” in Proc. SPIE, vol. 4024, 2000, pp. 292–302.
[2] J. Casper and R. Murphy, “Human-robot interactions during the
robot-assisted urban search and rescue response at the world trade
center,” IEEE Transactions on Systems, Man, and Cybernetics, Part B:
Cybernetics, vol. 33, no. 3, pp. 367–385, 2003.
[3] J. L. Burke, R. R. Murphy, M. D. Coovert, and D. L. Riddle, “Moonlight
in miami: A field study of human-robot interaction in the context
of an urban search and rescue disaster response training exercise,”
Hum.-Comput. Interact., vol. 19, no. 1, pp. 85–116, 2004.
[4] R. Murphy, “Trial by fire [rescue robots],” Robotics Automation
Magazine, IEEE, vol. 11, no. 3, pp. 50–61, 2004.
[5] R. Murphy, S. Tadokoro, D. Nardi, A. Jacoff, P. Fiorini, H. Choset,
and A. Erkmen, “Search and rescue robotics,” in Springer Handbook of
Robotics, B. Siciliano and O. Khatib, Eds. Springer Berlin Heidelberg,
2008, pp. 1151–1173.
[6] E. Guizzo, “Japan earthquake: Robots help search for survivors,”
IEEE Spectrum, 2011, http://spectrum.ieee.org/automaton/robotics/
industrial-robots/japan-earthquake-robots-help-search-for-survivors.
[7] E. Guizzo, “Japan earthquake: more robots to the rescue,”
IEEE Spectrum, 2011, http://spectrum.ieee.org/automaton/robotics/
industrial-robots/japanearthquakemore-robots-to-the-rescue.
[8] G.-J. Kruijff, M. Janicek, S. Keshavdas, B. Larochelle, H. Zender,
N. Smets, T. Mioch, M. Neerincx, J. van Diggelen, F. Colas, M. Liu,
F. Pomerleau, R. Siegwart, V. Hlavac, T. Svoboda, T. Petrcek,
M. Reinstein, K. Zimmermann, F. Pirri, M. Gianni, P. Papadakis,
A. Sinha, P. Balmer, N. Tomatis, R. Worst, T. Linder, H. Surmann,
V. Tretyakov, S. Corrao, S. Pratzler-Wanczura, and M. Sulk, “Experience
in system design for human-robot teaming in urban search & rescue,”
in Proceedings of 8th International Conference on Field and Service
Robotics, ser. STAR. Spring Verlag, 2012.
[9] G.-J. M. Kruijff, F. Pirri, M. Gianni, P. Papadakis, M. Pizzoli, A. Sinha,
E. Pianese, S. Corrao, F. Priori, S. Febrini, S. Angeletti, V. Tretyakov,
and T. Linder, “Rescue robots at earthquake-hit mirandola, italy: a field
report,” in Proceedings of the 10th IEEE International Symposium of
Safety Security and Rescue Robotics, 2012, pp. 1–8.
[10] R. Murphy, “Trial by fire [rescue robots],” IEEE Robotics Automation
Magazine, vol. 11, no. 3, pp. 50–61, 2004.
[11] D. Bruemmer, R. Boring, D. Few, J. Marble, and M. Walton, “”i call
shotgun!”: an evaluation of mixed-initiative control for novice users of a
search and rescue robot,” in Systems, Man and Cybernetics, 2004 IEEE
International Conference on, vol. 3, 2004, pp. 2847–2852.
[12] R. Wegner and J. Anderson, “Agent-based support for balancing
teleoperation and autonomy in urban search and rescue,” Int. J. Robot.
Autom., vol. 21, no. 2, pp. 120–128, 2006.
[13] B. Doroodgar, M. Ficocelli, B. Mobedi, and G. Nejat, “The search for
survivors: Cooperative human-robot interaction in search and rescue
environments using semi-autonomous robots,” in ICRA, 2010, pp.
2858–2863.
[14] A. Finzi and A. Orlandini, “Human-robot interaction through
mixed-initiative planning for rescue and search rovers,” in Proceedings
of the 9th Conference on Advances in Artificial Intelligence, ser.
AI*IA’05. Berlin, Heidelberg: Springer-Verlag, 2005, pp. 483–494.
[15] Y. Okada, K. Nagatani, K. Yoshida, T. Yoshida, and E. Koyanagi,
“Shared autonomy system for tracked vehicles to traverse rough terrain
based on continuous three-dimensional terrain scanning,” in IROS, 2010,
pp. 357–362.
[16] X. Perrin, R. Chavarriaga, F. Colas, R. Siegwart, and J. d. R.
Mill´an, “Brain-coupled interaction for semi-autonomous navigation of
an assistive robot,” Robot. Auton. Syst., vol. 58, no. 12, pp. 1246–1255,
2010.
[17] J. Drury, J. Scholtz, and H. Yanco, “Awareness in human-robot
interactions,” in Systems, Man and Cybernetics, 2003. IEEE
International Conference on, vol. 1, 2003, pp. 912–918.
[18] M. Baker, R. Casey, B. Keyes, and H. Yanco, “Improved interfaces for
human-robot interaction in urban search and rescue,” in Systems, Man
and Cybernetics, 2004 IEEE International Conference on, vol. 3, 2004,
pp. 2960–2965.
[19] J. Shen, J. Ibanez-Guzman, T. C. Ng, and B.-S. Chew, “A
collaborative-shared control system with safe obstacle avoidance
capability,” in Robotics, Automation and Mechatronics, 2004 IEEE
Conference on, vol. 1, 2004, pp. 119–123.
[20] R. Murphy, , R. R. Murphy, and J. J. Sprouse, “Strategies for searching
an area with semi-autonomous mobile robots,” in In Proceedings of
Robotics for Challenging Environments, 1996, pp. 15–21.
[21] A. Carbone, A. Finzi, A. Orlandini, and F. Pirri, “Model-based control
architecture for attentive robots in rescue scenarios,” Autonomous
Robots, vol. 24, no. 1, pp. 87–120, 2008.
[22] A. Finzi and F. Pirri, “Representing flexible temporal behaviors in
the situation calculus,” in IJCAI. San Francisco, CA, USA: Morgan
Kaufmann Publishers Inc., 2005, pp. 436–441.
[23] Bluebotics, “Absolem surveillance & rescue,” http://www.bluebotics.
com/mobile-robotics/absolem/, 2011.
[24] F. Pomerleau, F. Colas, R. Siegwart, and S. Magnenat, “Comparing icp
variants on real-world data sets,” Autonomous Robots, vol. 34, no. 3, pp.
133–148, April 2013.
[25] D. Hurych, K. Zimmermann, and T. Svoboda, “Fast learnable object
tracking and detection in high-resolution omnidirectional images,” in
VISAPP, March 2011.
[26] K. Zimmermann, P. Zuzanek, M. Reinstein, and V. Hlavac, “Adaptive
traversability of unknown complex terrain with obstacles for mobile
robots,” in Proceedings of the IEEE International Conference on
Robotics and Automation, 2014, pp. 5177–5182.
[27] M. Liu, F. Colas, and R. Siegwart, “Regional topological segmentation
based on mutual information graphs,” in ICRA, 2011, pp. 3269–3274.
[28] M. Liu, F. Colas, F. Pomerleau, and R. Siegwart, “A Markov
semi-supervised clustering approach and its application in topological
map extraction,” in IROS, 2012, pp. 4743–4748.
[29] N. Goerke and S. Braun, “Building semantic annotated maps by mobile
robots,” in TAROS, 2009, pp. 149–156.
[30] M. Menna, M. Gianni, F. Ferri, and F. Pirri, “Real-time autonomous
3D navigation for tracked vehicles in rescue environments,” in IROS,
Chicago, USA, 2014.
[31] F. Ferri, M. Gianni, M. Menna, and F. Pirri, “Point cloud segmentation
and 3D path planning for tracked vehicles in cluttered and dynamic
environments,” in Proceedings of the 3rd IROS Workshop on Robots in
Clutter: Perception and Interaction in Clutter, Chicago, USA, 2014.
[32] S. Caccamo, R. Parasuraman, F. Baberg, and P. Ogren, “Extending
a ugv teleoperation flc interface with wireless network connectivity
information,” in Proceedings of the IEEE/RSJ International Conference
on Intelligent Robots and Systems (IROS), 2015.
[33] K. Zimmermann, P. Zuzanek, M. Reinstein, and V. Hlavac, “Adaptive
traversability of unknown complex terrain with obstacles for mobile
robots,” in ICRA, 2014.
[34] M. Gianni, F. Ferri, M. Menna, and F. Pirri, “Adaptive robust
three-dimensional trajectory tracking for actively articulated tracked
vehicles,” Journal of Field Robotics, pp. n/a–n/a, 2015. [Online].
Available: http://dx.doi.org/10.1002/rob.21584 [35] F. Colas, S. Mahesh, F. Pomerleau, M. Liu, and R. Siegwart, “3d
path planning and execution for search and rescue ground robots,” in
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International
Conference on, 2013, pp. 722–727.
[36] F. Ferri, M. Gianni, M. Menna, and F. Pirri, “Dynamic obstacles
detection and 3d map updating,” in Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS),
2015.
[37] Kinova, “Kinova jaco arm api,” https://github.com/Kinovarobotics/
kinova-ros, 2014.
[38] M. Gianni, G. Gonnelli, A. Sinha, M. Menna, and F. Pirri, “An
augmented reality approach for trajectory planning and control of
tracked vehicles in rescue environments,” in Proceedings of the 11th
IEEE International Symposium on Safety, Security and Rescue Robotics,
Linkoping, Sweden, 2013.
[39] S. Koenig and M. Likhachev, “D*lite,” in Eighteenth National
Conference on Artificial Intelligence. Menlo Park, CA, USA: American
Association for Artificial Intelligence, 2002, pp. 476–483.
[40] M. Quigley, K. Conley, B. P. Gerkey, J. Faust, T. Foote, J. Leibs,
R. Wheeler, and A. Y. Ng, “Ros: an open-source robot operating system,”
in ICRA Workshop on Open Source Software, 2009.
[41] N. Gempton, S. Skalistis, J. Furness, S. Shaikh, and D. Petrovic,
“Autonomous control in military logistics vehicles: Trust and safety
analysis,” in Engineering Psychology and Cognitive Ergonomics.
Applications and Services, ser. Lecture Notes in Computer Science,
D. Harris, Ed. Springer Berlin Heidelberg, 2013, vol. 8020, pp.
253–262.
[1] J. Casper, M. Micire, and R. R. Murphy, “Issues in intelligent robots
for search and rescue,” in Proc. SPIE, vol. 4024, 2000, pp. 292–302.
[2] J. Casper and R. Murphy, “Human-robot interactions during the
robot-assisted urban search and rescue response at the world trade
center,” IEEE Transactions on Systems, Man, and Cybernetics, Part B:
Cybernetics, vol. 33, no. 3, pp. 367–385, 2003.
[3] J. L. Burke, R. R. Murphy, M. D. Coovert, and D. L. Riddle, “Moonlight
in miami: A field study of human-robot interaction in the context
of an urban search and rescue disaster response training exercise,”
Hum.-Comput. Interact., vol. 19, no. 1, pp. 85–116, 2004.
[4] R. Murphy, “Trial by fire [rescue robots],” Robotics Automation
Magazine, IEEE, vol. 11, no. 3, pp. 50–61, 2004.
[5] R. Murphy, S. Tadokoro, D. Nardi, A. Jacoff, P. Fiorini, H. Choset,
and A. Erkmen, “Search and rescue robotics,” in Springer Handbook of
Robotics, B. Siciliano and O. Khatib, Eds. Springer Berlin Heidelberg,
2008, pp. 1151–1173.
[6] E. Guizzo, “Japan earthquake: Robots help search for survivors,”
IEEE Spectrum, 2011, http://spectrum.ieee.org/automaton/robotics/
industrial-robots/japan-earthquake-robots-help-search-for-survivors.
[7] E. Guizzo, “Japan earthquake: more robots to the rescue,”
IEEE Spectrum, 2011, http://spectrum.ieee.org/automaton/robotics/
industrial-robots/japanearthquakemore-robots-to-the-rescue.
[8] G.-J. Kruijff, M. Janicek, S. Keshavdas, B. Larochelle, H. Zender,
N. Smets, T. Mioch, M. Neerincx, J. van Diggelen, F. Colas, M. Liu,
F. Pomerleau, R. Siegwart, V. Hlavac, T. Svoboda, T. Petrcek,
M. Reinstein, K. Zimmermann, F. Pirri, M. Gianni, P. Papadakis,
A. Sinha, P. Balmer, N. Tomatis, R. Worst, T. Linder, H. Surmann,
V. Tretyakov, S. Corrao, S. Pratzler-Wanczura, and M. Sulk, “Experience
in system design for human-robot teaming in urban search & rescue,”
in Proceedings of 8th International Conference on Field and Service
Robotics, ser. STAR. Spring Verlag, 2012.
[9] G.-J. M. Kruijff, F. Pirri, M. Gianni, P. Papadakis, M. Pizzoli, A. Sinha,
E. Pianese, S. Corrao, F. Priori, S. Febrini, S. Angeletti, V. Tretyakov,
and T. Linder, “Rescue robots at earthquake-hit mirandola, italy: a field
report,” in Proceedings of the 10th IEEE International Symposium of
Safety Security and Rescue Robotics, 2012, pp. 1–8.
[10] R. Murphy, “Trial by fire [rescue robots],” IEEE Robotics Automation
Magazine, vol. 11, no. 3, pp. 50–61, 2004.
[11] D. Bruemmer, R. Boring, D. Few, J. Marble, and M. Walton, “”i call
shotgun!”: an evaluation of mixed-initiative control for novice users of a
search and rescue robot,” in Systems, Man and Cybernetics, 2004 IEEE
International Conference on, vol. 3, 2004, pp. 2847–2852.
[12] R. Wegner and J. Anderson, “Agent-based support for balancing
teleoperation and autonomy in urban search and rescue,” Int. J. Robot.
Autom., vol. 21, no. 2, pp. 120–128, 2006.
[13] B. Doroodgar, M. Ficocelli, B. Mobedi, and G. Nejat, “The search for
survivors: Cooperative human-robot interaction in search and rescue
environments using semi-autonomous robots,” in ICRA, 2010, pp.
2858–2863.
[14] A. Finzi and A. Orlandini, “Human-robot interaction through
mixed-initiative planning for rescue and search rovers,” in Proceedings
of the 9th Conference on Advances in Artificial Intelligence, ser.
AI*IA’05. Berlin, Heidelberg: Springer-Verlag, 2005, pp. 483–494.
[15] Y. Okada, K. Nagatani, K. Yoshida, T. Yoshida, and E. Koyanagi,
“Shared autonomy system for tracked vehicles to traverse rough terrain
based on continuous three-dimensional terrain scanning,” in IROS, 2010,
pp. 357–362.
[16] X. Perrin, R. Chavarriaga, F. Colas, R. Siegwart, and J. d. R.
Mill´an, “Brain-coupled interaction for semi-autonomous navigation of
an assistive robot,” Robot. Auton. Syst., vol. 58, no. 12, pp. 1246–1255,
2010.
[17] J. Drury, J. Scholtz, and H. Yanco, “Awareness in human-robot
interactions,” in Systems, Man and Cybernetics, 2003. IEEE
International Conference on, vol. 1, 2003, pp. 912–918.
[18] M. Baker, R. Casey, B. Keyes, and H. Yanco, “Improved interfaces for
human-robot interaction in urban search and rescue,” in Systems, Man
and Cybernetics, 2004 IEEE International Conference on, vol. 3, 2004,
pp. 2960–2965.
[19] J. Shen, J. Ibanez-Guzman, T. C. Ng, and B.-S. Chew, “A
collaborative-shared control system with safe obstacle avoidance
capability,” in Robotics, Automation and Mechatronics, 2004 IEEE
Conference on, vol. 1, 2004, pp. 119–123.
[20] R. Murphy, , R. R. Murphy, and J. J. Sprouse, “Strategies for searching
an area with semi-autonomous mobile robots,” in In Proceedings of
Robotics for Challenging Environments, 1996, pp. 15–21.
[21] A. Carbone, A. Finzi, A. Orlandini, and F. Pirri, “Model-based control
architecture for attentive robots in rescue scenarios,” Autonomous
Robots, vol. 24, no. 1, pp. 87–120, 2008.
[22] A. Finzi and F. Pirri, “Representing flexible temporal behaviors in
the situation calculus,” in IJCAI. San Francisco, CA, USA: Morgan
Kaufmann Publishers Inc., 2005, pp. 436–441.
[23] Bluebotics, “Absolem surveillance & rescue,” http://www.bluebotics.
com/mobile-robotics/absolem/, 2011.
[24] F. Pomerleau, F. Colas, R. Siegwart, and S. Magnenat, “Comparing icp
variants on real-world data sets,” Autonomous Robots, vol. 34, no. 3, pp.
133–148, April 2013.
[25] D. Hurych, K. Zimmermann, and T. Svoboda, “Fast learnable object
tracking and detection in high-resolution omnidirectional images,” in
VISAPP, March 2011.
[26] K. Zimmermann, P. Zuzanek, M. Reinstein, and V. Hlavac, “Adaptive
traversability of unknown complex terrain with obstacles for mobile
robots,” in Proceedings of the IEEE International Conference on
Robotics and Automation, 2014, pp. 5177–5182.
[27] M. Liu, F. Colas, and R. Siegwart, “Regional topological segmentation
based on mutual information graphs,” in ICRA, 2011, pp. 3269–3274.
[28] M. Liu, F. Colas, F. Pomerleau, and R. Siegwart, “A Markov
semi-supervised clustering approach and its application in topological
map extraction,” in IROS, 2012, pp. 4743–4748.
[29] N. Goerke and S. Braun, “Building semantic annotated maps by mobile
robots,” in TAROS, 2009, pp. 149–156.
[30] M. Menna, M. Gianni, F. Ferri, and F. Pirri, “Real-time autonomous
3D navigation for tracked vehicles in rescue environments,” in IROS,
Chicago, USA, 2014.
[31] F. Ferri, M. Gianni, M. Menna, and F. Pirri, “Point cloud segmentation
and 3D path planning for tracked vehicles in cluttered and dynamic
environments,” in Proceedings of the 3rd IROS Workshop on Robots in
Clutter: Perception and Interaction in Clutter, Chicago, USA, 2014.
[32] S. Caccamo, R. Parasuraman, F. Baberg, and P. Ogren, “Extending
a ugv teleoperation flc interface with wireless network connectivity
information,” in Proceedings of the IEEE/RSJ International Conference
on Intelligent Robots and Systems (IROS), 2015.
[33] K. Zimmermann, P. Zuzanek, M. Reinstein, and V. Hlavac, “Adaptive
traversability of unknown complex terrain with obstacles for mobile
robots,” in ICRA, 2014.
[34] M. Gianni, F. Ferri, M. Menna, and F. Pirri, “Adaptive robust
three-dimensional trajectory tracking for actively articulated tracked
vehicles,” Journal of Field Robotics, pp. n/a–n/a, 2015. [Online].
Available: http://dx.doi.org/10.1002/rob.21584 [35] F. Colas, S. Mahesh, F. Pomerleau, M. Liu, and R. Siegwart, “3d
path planning and execution for search and rescue ground robots,” in
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International
Conference on, 2013, pp. 722–727.
[36] F. Ferri, M. Gianni, M. Menna, and F. Pirri, “Dynamic obstacles
detection and 3d map updating,” in Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS),
2015.
[37] Kinova, “Kinova jaco arm api,” https://github.com/Kinovarobotics/
kinova-ros, 2014.
[38] M. Gianni, G. Gonnelli, A. Sinha, M. Menna, and F. Pirri, “An
augmented reality approach for trajectory planning and control of
tracked vehicles in rescue environments,” in Proceedings of the 11th
IEEE International Symposium on Safety, Security and Rescue Robotics,
Linkoping, Sweden, 2013.
[39] S. Koenig and M. Likhachev, “D*lite,” in Eighteenth National
Conference on Artificial Intelligence. Menlo Park, CA, USA: American
Association for Artificial Intelligence, 2002, pp. 476–483.
[40] M. Quigley, K. Conley, B. P. Gerkey, J. Faust, T. Foote, J. Leibs,
R. Wheeler, and A. Y. Ng, “Ros: an open-source robot operating system,”
in ICRA Workshop on Open Source Software, 2009.
[41] N. Gempton, S. Skalistis, J. Furness, S. Shaikh, and D. Petrovic,
“Autonomous control in military logistics vehicles: Trust and safety
analysis,” in Engineering Psychology and Cognitive Ergonomics.
Applications and Services, ser. Lecture Notes in Computer Science,
D. Harris, Ed. Springer Berlin Heidelberg, 2013, vol. 8020, pp.
253–262.
@article{"International Journal of Information, Control and Computer Sciences:73108", author = "Mario Gianni and Federico Nardi and Federico Ferri and Filippo Cantucci and Manuel A. Ruiz Garcia and Karthik Pushparaj and Fiora Pirri", title = "MIOM: A Mixed-Initiative Operational Model for Robots in Urban Search and Rescue", abstract = "In this paper, we describe a Mixed-Initiative Operational
Model (MIOM) which directly intervenes on the state of the
functionalities embedded into a robot for Urban Search&Rescue
(USAR) domain applications. MIOM extends the reasoning
capabilities of the vehicle, i.e. mapping, path planning, visual
perception and trajectory tracking, with operator knowledge.
Especially in USAR scenarios, this coupled initiative has the main
advantage of enhancing the overall performance of a rescue mission.
In-field experiments with rescue responders have been carried out to
evaluate the effectiveness of this operational model.", keywords = "Actively articulated tracked vehicles, mixed-initiative
planning interfeces, robot planning, urban search and rescue.", volume = "10", number = "6", pages = "1104-11", }
