Semi-Autonomous Robots for RoboCupRescue

Abstract

Search and rescue robots are intended to work as aids to human rescuers. One of the research challenges is how to combine autonomous operation with operator control. This paper presents a single software system which independently operates several physically distinct robots. One operator can coordinate several robots by switching their individual mode between autonomous and remote operation. For simple regions, a robot may travel autonomously, while in more complex areas the operator may assert control. The mixture of autonomous and remote operation also allows the robot to continue to operate when wireless communication to the operator is lost. 1