Human-Robot Teaming: A Universal Controller with Multi-Modal Feedback for Emergency Response Robots

摘要

This work presents the development of a universal wireless controller that supports the Robot Operating System (ROS), with a focus on enhancing system reliability and safety in Human-Robot Teaming (HRT). The controller is designed to provide multi-modal auditory, visual, and tactile feedback mechanisms, ensuring robust and reliable communication between human operators and various robots during collaborative emergency scenarios. The primary objective is to create an intuitive and unified interface that not only facilitates efficient collaboration but also significantly enhances the safety of operations by minimising the risk of human errors in dynamic and unpredictable environments. By integrating ROS capabilities with diverse sensorial feedback modalities, the controller improves situational awareness (SA) and operational reliability, enabling human operators, such as first responders, to maintain control and make informed decisions under pressure. A use case involving the navigation of a quadruped robot through an obstacle-filled environment is presented to demonstrate the controller’s practical benefits in ensuring safety and reliability during complex tasks. The sequence of operations, including safe navigation, reliable victim proximity indication, and secure emergency stops, highlights the controller’s effectiveness in real-world scenarios, emphasising its role in promoting both system reliability and operational safety.