Journal articles: 'Robot search and rescue'

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Jung, Kyu Park, Park Howard, and Young Park Eun. "Search and Rescue Algorithm using a Cooperative Robot System." International Journal of Engineering and Advanced Technology (IJEAT) 9, no. 3 (2020): 943–47. https://doi.org/10.35940/ijeat.B2332.029320.

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Cooperative robotics is very different from working on a single robot before. Cooperative robots can perform tasks that were previously impossible with a single robot. This robot research can be applied in computer science, artificial intelligence, and electrical engineering. This research aims to deal with tasks that are difficult or impossible to perform with a single robot. For this purpose, we propose a Se-Re (Search-and-Rescue) algorithm. In addition, the proposed algorithm is designed to allow multiple robots to collaborate in the area of work. Robots use wireless communication to collaborate and are organized in groups, which create environmental maps and share data with each other. The robot uses the shared area map to create a global map. Using this information, the robot does not revisit the previously visited area. The proposed algorithm can be applied both indoors and outdoors. Indoors can be used in general buildings as well as livestock housing, and outdoors can be used for landmine removal, human search, and rescue.

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Ajith, Varun. "Search and Rescue Robot." International Journal of Science, Engineering and Technology 12, no. 1 (2024): 1–6. http://dx.doi.org/10.61463/ijset.vol.12.issue1.112.

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Hebbar, Vijeth, and Cédric Langbort. "A Model for Tacit Communication in Collaborative Human-UAV Search-and-Rescue." Entropy 23, no. 8 (2021): 1027. http://dx.doi.org/10.3390/e23081027.

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Tacit communication can be exploited in human robot interaction (HRI) scenarios to achieve desirable outcomes. This paper models a particular search and rescue (SAR) scenario as a modified asymmetric rendezvous game, where limited signaling capabilities are present between the two players—rescuer and rescuee. We model our situation as a co-operative Stackelberg signaling game, where the rescuer acts as a leader in signaling its intent to the rescuee. We present an efficient game-theoretic approach to obtain the optimal signaling policy to be employed by the rescuer. We then robustify this approach to uncertainties in the rescue topology and deviations in rescuee behavior. The paper thus introduces a game-theoretic framework to model an HRI scenario with implicit communication capacity.

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Gyarmati, Marton, Mihai Olimpiu Tătar, and Francisc Kadar. "Contributions to the development of search and rescue mobile robots." MATEC Web of Conferences 343 (2021): 08016. http://dx.doi.org/10.1051/matecconf/202134308016.

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In this paper the authors present contributions to the development of search and rescue mobile robots. The first part of the paper describes the characteristics of search and rescue field. In the second part the authors presented the development and construction of an experimental prototype focusing on the locomotion systems for the search and rescue field and the results of the physical experiments done and the design and development of a proposed search and rescue mobile robot based on the lessons learned from the experiments. The third part contains the operation and control of the robot. The fourth section presents the simulation of the hybrid locomotion system of the proposed search and rescue mobile robot. The last part of the paper contains the development directions and conclusions.

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Shang, Lei, Haibo Wang, Haiqing Si, Yao Li, and Ting Pan. "Investigating the Obstacle Climbing Ability of a Coal Mine Search-and-Rescue Robot with a Hydraulic Mechanism." Applied Sciences 12, no. 20 (2022): 10485. http://dx.doi.org/10.3390/app122010485.

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Due to the perilous conditions in coal mine accidents, trapped people need to be rescued as soon as possible. The danger and complexity of this environment have brought great difficulties for search and rescue. The emergence of rescue robots has addressed this problem, and the improvement of their search-and-rescue ability is a key concern for rescue robot designers. Based on previous experience of a tracked mobile robot, this paper proposes a new solution via the addition of adjustive rocker arms. For this purpose, a hydraulic unit is installed between the rocker arms and the robot, which enables the rocker arms to be pulled back and forth, enabling its adaptation to more complex environments. In addition, based on kinematics equations, by analyzing the motion rules and characteristics of climbing typical obstacles including stairs, grooves, and lug steps, the present research not only works out the centroid coordinates but also explores the maximal obstacle height. The results show that when the rocker arms are extended by hydraulic pressure, the obstacle-climbing height of the robot increases 16.7 percent. This demonstrates the improvement in obstacle climbing ability and rescue efficiency in complex environments.

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Su, Wei Hua, Jing Gong Sun, Fu Niu, and Xin Yue Xu. "The Human-Robot Interaction: An Investigation of Rescue Robot." Advanced Materials Research 711 (June 2013): 523–28. http://dx.doi.org/10.4028/www.scientific.net/amr.711.523.

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The thesis research aimed to further the study of human-robot interaction (HRI) issues, especially regarding the development of rescue robot. The paper firstly discussed the status of the rescue robot and described the framework of human-robot interaction of search-rescue robot and rescue-evacuation robot. Subsequently, the general HRI issues will be discussed to explain how they affect the use of robots. Finally, we present suggested this multidisciplinary field of research, namely human-robot interaction, requires contributions from a variety of research fields such as robotics, human-computer interaction, and artificial intelligence.

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Xiang, Hong Wei, Chang Zheng Chen, and Chang Long Ye. "Analysis of Articulated Mobile Robots for the Urban Search and Rescue." Applied Mechanics and Materials 303-306 (February 2013): 1641–46. http://dx.doi.org/10.4028/www.scientific.net/amm.303-306.1641.

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Articulated structure of mobile robot presents high flexibility on the environment adaptation. It has been widely used on the mobile robot to get through rough terrain. This class of robots named as articulated mobile robots can move in hard condition with high stability and environment adaptability. In order to satisfy the requirement of Urban Search and Rescue (USAR), a series of articulated mobile robots are analyzed. The performance of articulated mobile robots is analyzed for get an appropriate robot for USAR. Two snake-like robots named Perambulator I and II are analyzed. Based on the structure of Perambulator II, the articulated mobile robot Ameba II are presented based on track drive mechanism. Ameba II has high performance on mobility and adaptability in complex environment. The comparisons among of some typical articulated robots are given based on mobility and environment adaptation. The experimental results of both Perambulator II and Ameba II show that the Ameba II mobile robot is a better than the snake-like robot Perambulator II on the urban search and rescue applications.

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Mohan, P. Aswanth. "Autonomous Search and Rescue Robot." INTERANTIONAL JOURNAL OF SCIENTIFIC RESEARCH IN ENGINEERING AND MANAGEMENT 09, no. 03 (2025): 1–9. https://doi.org/10.55041/ijsrem42049.

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- In disaster-stricken environments, traditional search and rescue methods often encounter significant challenges due to adverse conditions such as smoke, fog, darkness, or complex terrains. Advancements in autonomous robotics and sensor technologies provide effective solutions to enhance the efficiency and reliability of rescue operations. This work focuses on the development of an autonomous search and rescue robot equipped with LiDAR based mapping and thermal imaging technology. The LiDAR system enables real-time 2D mapping of the environment, ensuring precise navigation and obstacle avoidance in dynamic and unstructured terrains. At the same time, the thermal imaging system detects heat signatures, allowing the identification and localization of humans or animals that may be obscured by environmental hazards. The proposed robotic system is designed to operate in disaster scenarios where human intervention is difficult or hazardous. By utilizing LiDAR for navigation and thermal imaging for survivor detection, the robot can autonomously move through challenging terrains while effectively identifying potential survivors. The integration of advanced sensing technologies with intelligent navigation algorithms enhances adaptability and reliability in critical situations. This approach aims to improve the speed and accuracy of locating victims, ultimately contributing to more effective and life-saving search and rescue missions. Key Words: Autonomous, ROS Neotic, LIDAR, Teleoperation, Ubuntu Mate, Ubuntu Server, Navigation

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Chen, Keyu, and Fengye Tian. "Design of Micro Search-and-Rescue Robot System and Analysis of Its Application in Disaster Rescue." Highlights in Science, Engineering and Technology 76 (December 29, 2023): 8–15. http://dx.doi.org/10.54097/mmfhne27.

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In recent years, many major natural disasters have occurred in the world, and among these major natural disasters, earthquakes are the most destructive. In the post-earthquake disaster areas, there are many ruins, which will reduce the efficiency of search and rescue and increase the risk of search and rescue. Some of the ruins were inaccessible to people, and it was difficult for search-and-rescue personnel to determine whether there were survivors. In order to improve the efficiency of search and rescue, reduce the risk of search and rescue, and reduce the investment of search-and-rescue personnel, micro search-and-rescue robots are designed. A variety of sensors are installed on the micro search-and-rescue robot for efficient search and rescue, a communication system is installed for data transmission, and a motor system is installed to overcome obstacles. This paper also discusses possible problems and proposes corresponding solutions. However, limited by existing technologies, some problems cannot be completely solved. In the future, the investment of micro search-and-rescue robots will save more lives.

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Semenas, Rokas, and Romualdas Bausys. "Modelling of Autonomous Search and Rescue Missions by Interval-Valued Neutrosophic WASPAS Framework." Symmetry 12, no. 1 (2020): 162. http://dx.doi.org/10.3390/sym12010162.

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The application of autonomous robots in search and rescue missions represents a complex task which requires a robot to make robust decisions in unknown and dangerous environments. However, imprecise robot movements and small measurement errors obtained by robot sensors can have an impact on the autonomous environment exploration quality, and therefore, should be addressed while designing search and rescue (SAR) robots. In this paper, a novel frontier evaluation strategy is proposed, that address technical, economic, social, and environmental factors of the sustainable environment exploration process, and a new extension of the weighted aggregated sum product assessment (WASPAS) method, modelled under interval-valued neutrosophic sets (IVNS), is introduced for autonomous mobile robots. The general-purpose Pioneer 3-AT robot platform is applied in simulated search and rescue missions, and the conducted experimental assessment shows the proposed method efficiency in commercial and public-type building exploration. By addressing the estimated measurement errors in the initial data obtained by the robot sensors, the proposed decision-making framework provides additional reliability for comparing and ranking candidate frontiers. The interval-valued multi-criteria decision-making method combined with the proposed frontier evaluation strategy enables the robot to exhaustively explore and map smaller SAR mission environments as well as ensure robot safety and efficient energy consumption in relatively larger public-type building environments.

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Allali, Sarah, and Mahfoud Benchaïba. "Overview of Search and Rescue from Robotics to Wireless Sensors and Robots Networks." International Journal of Robotics Applications and Technologies 4, no. 2 (2016): 16–33. http://dx.doi.org/10.4018/ijrat.2016070102.

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In the recent years, many researchers have shown interest in developing search and rescue system composed of one or multiple robots, which have the mission of finding victims and identifying the potential hazards. To enhance the robotic systems there is a growing trend of integrating wireless sensor networks (WSNs) to robots and multi-robot systems, which gives more awareness of the environments. In the first part of this article, the authors present a review of robotic system and their environments in search and rescue systems. Additionally, they explain challenges related to these systems and tasks that a robot or a multi-robot system should execute to fulfil the search and rescue activities. As a second part, the authors expose the system that integrates WSNs with robots and the advantages that brings this latter. In addition, they cite tasks and missions that are achieved in a better way with a cooperation of WSN and robots. Furthermore, the authors expose and discuss the remarkable research, challenges and the open research challenges that includes this cooperation.

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Shi, Xi Ming, Zhen Zhang, and Xiu Xia Chen. "Design and Research of an Active Search and Rescue Robot Used in Ruin Interstice." Advanced Materials Research 655-657 (January 2013): 1096–100. http://dx.doi.org/10.4028/www.scientific.net/amr.655-657.1096.

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After studying of post-earthquake environment, we develop a new kind of search and rescue robot, which can go into ruin interstices to implement rescue. Through the research of track and snake-like robot that used in searching and rescuing, we design a new kind of mechanism, which has advantages of both track and snake-like robots. This article also gives some details about the modular unit of track drive mechanism of the robot, the head turning mechanism actuated by tendon-sheath, and the control method of the robot system.

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Pratama, Gralo Yopa Rahmat, and Nuryono Satya Widodo. "Development of Design and Control Manipulator Arm on Hexapod Robot with Smart Vision Sensor." Buletin Ilmiah Sarjana Teknik Elektro 5, no. 3 (2023): 388–97. https://doi.org/10.12928/biste.v5i3.8907.

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In 2021, the Indonesian Search and Rescue Robot Competition underwent significant changes, transitioning from its original name of "Firefighting Robot Contest" to "Search and Rescue Robot Contest." With existing regulations and new races, this robot used in the Indonesian Search and Rescue Robot Contest is an essential addition manipulator robot arm to finish mission victim rescue. With existing study about Design Development and Control Manipulator Arm on this Hexapod Robot with Smart Vision Sensor expected can help the development of the AL-JAZARI team's hexapod robot in mission victim rescue. Research, This does development design and control from a manipulator robot arm that can save victims in the rules of the Indonesian Search and Rescue Robot Contest. This uses input from the Pixy Camera, and its output is from the movement of the manipulator arm of the MG90S servo, which can save the orange victim. A Pixy Camera detects the victim and is picked up by a robotic arm. The manipulator's arm uses the MG90S servo as the actuator. In contrast, the buffer from the servo uses a 3D print designed to adapt to robotic bodies and efficiently, at times, save victims. Result study This robot can run on the victim rescue track by pushing the start button, then the robot will move autonomously with level success casualty rescue by 85% at good lighting and level lighting success dim by 80%.

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Wang, Peng, Jixiang Li, and Yuan Zhang. "The Nonfragile Controller with Covariance Constraint for Stable Motion of Quadruped Search-Rescue Robot." Advances in Mechanical Engineering 6 (January 1, 2014): 917381. http://dx.doi.org/10.1155/2014/917381.

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The problem of a stable motion for the quadruped search-rescue robots is described as a variance constrained uncertainty in the discrete systems. According to the model structure of the quadruped search-rescue robot, the kinematics of the robot is analyzed on the basis of the D- H parameter. Each joint of the robot angular velocity is planned using the Jacobian matrix, because the angular velocity is directly related to the stability of walking based on the ADAMS simulation. The nonfragile control method with the covariance constraint is proposed for the gait motion control of the quadruped search-rescue robot. The motion state feedback controller and the covariance upper bounds can be given by the solutions of the linear matrix inequalities (LMI), which makes the system satisfy the covariance constrain theory. The results given by LMI indicate that the proposed control method is correct and effective.

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Zedadra, Ouarda, Amina Zedadra, Antonio Guerrieri, Hamid Seridi, and Douaa Ghelis. "A New Multi-Robots Search and Rescue Strategy based on Penguin Optimization Algorithm." Scalable Computing: Practice and Experience 25, no. 5 (2024): 4428–41. http://dx.doi.org/10.12694/scpe.v25i5.3541.

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In response to the challenging conditions that arise after natural disasters, multi-robot systems are utilized as alternatives to humans for searching and rescuing victims. Exploring unknown environments is crucial in mobile robotics, serving as a foundational stage for applications such as search and rescue, cleaning tasks, and foraging. In our study, we introduced a novel search strategy for multi-robot search and rescue operations. This strategy draws inspiration from the hunting behavior of penguins and combines the Penguin Search Optimization Algorithm with the Random Walk Algorithm to regulate the global and local search behaviors of the robots. To assess the strategy's effectiveness, we implemented it in the ARGoS multi-robot simulator and conducted a series of experiments. The results clearly demonstrate the efficiency and effectiveness of our proposed search strategy.

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Hao, Bing, Jianshuo Zhao, He Du, Qi Wang, Qi Yuan, and Shuo Zhao. "A search and rescue robot search method based on flower pollination algorithm and Q-learning fusion algorithm." PLOS ONE 18, no. 3 (2023): e0283751. http://dx.doi.org/10.1371/journal.pone.0283751.

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Search algorithm plays an important role in the motion planning of the robot, it determines whether the mobile robot complete the task. To solve the search task in complex environments, a fusion algorithm based on the Flower Pollination algorithm and Q-learning is proposed. To improve the accuracy, an improved grid map is used in the section of environment modeling to change the original static grid to a combination of static and dynamic grids. Secondly, a combination of Q-learning and Flower Pollination algorithm is used to complete the initialization of the Q-table and accelerate the efficiency of the search and rescue robot path search. A combination of static and dynamic reward function is proposed for the different situations encountered by the search and rescue robot during the search process, as a way to allow the search and rescue robot to get better different feedback results in each specific situation. The experiments are divided into two parts: typical and improved grid map path planning. Experiments show that the improved grid map can increase the success rate and the FIQL can be used by the search and rescue robot to accomplish the task in a complex environment. Compared with other algorithms, FIQL can reduce the number of iterations, improve the adaptability of the search and rescue robot to complex environments, and have the advantages of short convergence time and small computational effort.

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Murphy, Robin R., and Jennifer L. Burke. "Up from the Rubble: Lessons Learned about HRI from Search and Rescue." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 49, no. 3 (2005): 437–41. http://dx.doi.org/10.1177/154193120504900347.

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The Center for Robot-Assisted Search and Rescue has collected data at three responses (World Trade Center, Hurricane Charley, and the La Conchita mudslide) and nine high fidelity field exercises. Our results can be distilled into four lessons. First, building situation awareness, not autonomous navigation, is the major bottleneck in robot autonomy. Most of the robotics literature assumes a single operator single robot (SOSR), while our work shows that two operators working together are nine times more likely to find a victim. Second, human-robot interaction should not be thought of how to control the robot but rather how a team of experts can exploit the robot as an active information source. The third lesson is that team members use shared visual information to build shared mental models and facilitate team coordination. This suggests that high bandwidth, reliable communications will be necessary for effective teamwork. Fourth, victims and rescuers in close proximity to the robots respond to the robot socially. We conclude with observations about the general challenges in human-robot interaction.

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Zhang, Yubo. "Development of a Multi-target Search-and-rescue Robot Based on Improved Algorithms." Applied and Computational Engineering 147, no. 1 (2025): 56–70. https://doi.org/10.54254/2755-2721/2025.22370.

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Nowadays more and more natural disasters and accidents happen around us, resulting in situations where people are trapped in danger. These areas often have complex terrains or high-risk environments. Rescue robots are becoming increasingly important in disaster relief and complex environment exploration. The use of rescue robots significantly improves search and rescue efficiency and reduces risk of casualties during rescue operations in hard-to-access or dangerous areas like earthquake ruins or fire scenes. This research develops an efficient rescue robot system that integrates advanced path planning and rapid map-building technologies for multi-target rescue tasks in complex environments. The system's core consists of two main modules: one is a multi-target path planning and obstacle avoidance module that combines A* and TSP algorithms, aimed at generating the shortest path covering all rescue points; the other is a map building module based on SLAM technology, for quickly and accurately drawing environmental maps. Comprehensive validation in computer simulation environments and real miniature car testing environments has shown that the path planning module combining A* and TSP algorithms can successfully plan the shortest rescue routes. Meanwhile, SLAM technology demonstrates its high accuracy and real-time performance in map building. The real miniature car's test results further confirm the system's feasibility and stability. This project offers a method to optimize the path planning of traditional rescue robots, potentially improving the efficiency of multi-target rescue missions. Additionally, the experimental results provide guidance and suggestions for the design, development, and deployment of actual rescue robots in the future.

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Meng, Guang Zhu, Ling Yu Sun, Ping Peng, Xian Chun Meng, Hong Mei Wang, and Jian Wei Zhang. "Jacobian Matrix of a Novel Continuum Robot for Search and Rescue." Applied Mechanics and Materials 303-306 (February 2013): 1695–701. http://dx.doi.org/10.4028/www.scientific.net/amm.303-306.1695.

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In this paper, a novel continuum robot for search and rescue is presented. A forward kinematic model is derived by product of exponentials formula, compare with conventional D-H method, this method is concise and simplicity. Finally, based on the differential kinematics using the chain rule, the overall Jacobian of the robot is established. This approach can be generally applied to various continuum robots, regardless of the specific actuation system used.

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Yiğit, Tuncay, and Şadi Fuat Çankaya. "Implementation of Machine Learning Algorithms on Multi-Robot Coordination." Electronics 11, no. 11 (2022): 1786. http://dx.doi.org/10.3390/electronics11111786.

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Occasionally, professional rescue teams encounter issues while rescuing people during earthquake collapses. One such issue is the localization of wounded people from the earthquake. Machines used by rescue teams may cause crucial issues due to misleading localization. Usually, robot technology is utilized to address this problem. Many research papers addressing rescue operations have been published in the last two decades. In the literature, there are few studies on multi-robot coordination. The systems designed with a single robot should also overcome time constraints. A sophisticated algorithm should be developed for multi-robot coordination to solve that problem. Then, a fast rescuing operation could be performed. The distinctive property of this study is that it proposes a multi-robot system using a novel heuristic bat-inspired algorithm for use in search and rescue operations. Bat-inspired techniques gained importance in soft-computing experiments. However, there are only single-robot systems for robot navigation. Another original aspect of this paper is that this heuristic algorithm is employed to coordinate the robots. The study is devised to encourage extended work related to earthquake collapse rescue operations.

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Li, Juan, Shi Zhong Li, and Xiao Xue Guo. "Study of the Search and Rescue Robot’s Motion System in the Underground Environment." Advanced Materials Research 588-589 (November 2012): 1480–83. http://dx.doi.org/10.4028/www.scientific.net/amr.588-589.1480.

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For the unstructured extreme environment of coal mine underground accidents, this paper puts forward a multi section crawler search robots. Based on the analysis of the working environment of the robot, underground search robot of crawler - ground model is built , overall configuration of robot that can cross obstacles flexibly in the complicated unstructured environment is put forward, high mobility of walking mechanism and joint module are designed and simulate by simulation software MATLAB, which provides the basis for establishing systematic engineering prototype and completing engineering test result.

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Bogue, Robert. "Search and rescue and disaster relief robots: has their time finally come?" Industrial Robot: An International Journal 43, no. 2 (2016): 138–43. http://dx.doi.org/10.1108/ir-12-2015-0228.

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Purpose – This paper aims to discuss search and rescue (SAR) and disaster relief robot developments, trials and applications and to answer the question posed in the title. Design/methodology/approach – Following a short introduction, this first describes Integrated Components for Assisted Rescue and Unmanned Search operations, a recent, collaborative, European research project, and euRathlon, a major robotics competition. It then highlights the role of the centre for robot-assisted search and rescue, and provides examples of the deployment of terrestrial, marine and airborne robots in real SAR and disaster relief situations. It concludes with a brief discussion. Findings – This shows that SAR and disaster relief robots are the topic of an extensive development effort, and many have performed well in simulated disaster scenarios. Terrestrial, marine and airborne robots have been used in many real disaster relief situations since 2001, and the use of unmanned aerial vehicles has proliferated due to recent technological developments. Robots now play an important role in supporting SAR teams, and this will certainly increase as the technologies are developed further. Originality/value – In an era characterized by extreme weather events and continuing military conflicts, robots play an increasingly important role in supporting human disaster response teams. This article provides details of developments, trials and real-world deployments of such robots.

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Magid, Evgeni, Takashi Tsubouchi, Eiji Koyanagi, and Tomoaki Yoshida. "Building a Search Tree for a Pilot System of a Rescue Search Robot in a Discretized Random Step Environment." Journal of Robotics and Mechatronics 23, no. 4 (2011): 567–81. http://dx.doi.org/10.20965/jrm.2011.p0567.

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Rescue robotics applies search and rescue robots to expand rescue capabilities while increasing safety. Mobile robots working at a disaster site are monitored remotely by operators who may not be able to see the site well and select work paths appropriately. Our goal is to provide a “pilot system” that can propose options for traversing 3D debris environments. This requires a special debris path search algorithm and an appropriately defined search tree ensuring smooth exploration. To make a path search feasible in huge real state space we discretize search space and robot movement before a search. In this paper we present path quality estimation and search tree branching functionF, which defines search tree building process online through node opening and branching. Well-defined functionFremoves unsuitable search directions from the search tree and enables dynamic path planning accounting for debris. Exhaustive simulation was used to structure and analyze data. Experiments confirmed the feasibility of our approach.

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Uslu, Erkan, Furkan Çakmak, Nihal Altuntaş, Salih Marangoz, Mehmet Fatih Amasyalı, and Sırma Yavuz. "An architecture for multi-robot localization and mapping in the Gazebo/Robot Operating System simulation environment." SIMULATION 93, no. 9 (2017): 771–80. http://dx.doi.org/10.1177/0037549717710098.

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Robots are an important part of urban search and rescue tasks. World wide attention has been given to developing capable physical platforms that would be beneficial for rescue teams. It is evident that use of multi-robots increases the effectiveness of these systems. The Robot Operating System (ROS) is becoming a standard platform for the robotics research community for both physical robots and simulation environments. Gazebo, with connectivity to the ROS, is a three-dimensional simulation environment that is also becoming a standard. Several simultaneous localization and mapping algorithms are implemented in the ROS; however, there is no multi-robot mapping implementation. In this work, two multi-robot mapping algorithm implementations are presented, namely multi-robot gMapping and multi-robot Hector Mapping. The multi-robot implementations are tested in the Gazebo simulation environment. Also, in order to achieve a more realistic simulation, every incremental robot movement is modeled with rotational and translational noise.

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Wang, Peng, Jing Lei Xin, Shao Chen Kang, Wen Hao Jiang, and Xin Li. "Research on Motion Analysis and Embedded Control System of Search-Rescue Robot." Applied Mechanics and Materials 63-64 (June 2011): 827–30. http://dx.doi.org/10.4028/www.scientific.net/amm.63-64.827.

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In order to improve the motion quality of the search-rescue robot, the new hexapod robot system is proposed in this paper. Based on the completed system hardware design and implementing scheme, embedded system software initialization design is realized. Through the improved kinematics analysis method, a simulation model of hexapod search-rescue robot is established in ADAMS. The experiment result shows that the whole robot is flexible and powerful.

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Choi, S. H., and W. K. Zhu. "Performance Optimisation of Mobile Robots for Search-and-Rescue." Applied Mechanics and Materials 232 (November 2012): 403–7. http://dx.doi.org/10.4028/www.scientific.net/amm.232.403.

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This paper presents a team performance optimisation system for multiple mobile robots in search-and-rescue operations, in which refugees are first discovered and subsequently robots are dispatched to transport themto shelters. Coordination of mobile robots involves two fundamental issues, namely task allocation and motion planning. While task allocation assigns jobs to robots, motion planning generates routes for robots to execute the assigned jobs. Task allocation and motion planning together play a pivotal role in optimisation of the robot team performance. These two issues become more challenging in dynamic search-and-rescue environments, where the refugees are unpredictably discovered at different locations and the traffic conditions of rescue zones keep changing. Weaddress these two issues by proposing an auction-based closed-loop module for task allocation and a bio-inspired intelligent module for motion planning. The task allocation module is characterised with a closed-loop bid adjustment mechanism to improve the bid accuracy even in light of stochastic rescue requests. The motion planning module is bio-inspired intelligent in that it features detection of imminent neighbours and responsiveness of virtual force navigation in dynamic traffic conditions. Simulations show that the proposed system is a practical tool to optimise the dynamic operations of search-and-rescue by a team of mobilerobots.

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Meng, Guang Zhu, Guang Ming Yuan, Zhe Liu, and Jun Zhang. "Forward and Inverse Kinematic of Continuum Robot for Search and Rescue." Advanced Materials Research 712-715 (June 2013): 2290–95. http://dx.doi.org/10.4028/www.scientific.net/amr.712-715.2290.

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Continuum robot is a new type robot which has many applications,such as medical surgery, mine collapse, urban search and rescue etc. In this paper, the forward and inverse kinematics analysis of continuum robot for search and rescue is presented. The forword kinematic has been formulated by product of exponentials. The inverse kinematics for the robot is carried out by a geometrical approach. Finally, the forward and inverse kinematic simulation is completed by Matlab. The simulation results are given for the robot to illustrate the method effectiveness.

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S.B, Pokle, Purohit Namrata, Mahatme Aishwarya, Qureshi Summaiya, and Ranjan Ronit. "Design of Wirelessly Controlled Motion Robot for Disaster Search and Rescue Management." Journal of Communication Engineering and Its Innovations 6, no. 1 (2020): 10–14. https://doi.org/10.5281/zenodo.3753290.

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This work intends to assist reach the victims tormented by both natural and manmade disasters like landslides, earthquakes, terrorism, fire explosion, etc. So this problem can be overcome by designing the RF motion robot which involves wireless cameras and sensors which can make it easy to observe the affected areas. This robot can quietly enter into the enemy area and sends us the proper information gathered by the information collected by the wireless camera and sensors.  The motion of this robot is wirelessly controlled by an RF transmitter device for sending commands to the RF receiver mounted on the moving bot. Since human life is often valuable, these robots are the substitution of soldiers in war areas and also the rescue team for disaster management [1]. This robot may be stationed in hotels, shopping malls, etc, where there can be a threat from intruders, terrorist or other disasters. At the time of war, it can collect information from the enemy terrain and monitor that information at a far secure area, and safely devise an idea for the counter-attack, tracking locations of terrorist organizations and plan an attack at a suitable time. Making surveillance of any disaster-affected area where personnel can’t go.

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Dai, Fengzhi, Qijia Kang, Yuanli Yue, and Pengfei Xie. "Research on visualized search and rescue robot." Journal of Robotics, Networking and Artificial Life 3, no. 3 (2016): 201. http://dx.doi.org/10.2991/jrnal.2016.3.3.13.

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Nourbakhsh, I. R., K. Sycara, M. Koes, M. Yong, M. Lewis, and S. Burion. "Human-Robot Teaming for Search and Rescue." IEEE Pervasive Computing 4, no. 1 (2005): 72–78. http://dx.doi.org/10.1109/mprv.2005.13.

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ONO, Takatsugu, Masaki ISHII, and Nobuhiro SHIMOI. "1A2-I10 Development of Rescue Robot to Search for the Avalanche Victims(Search and Rescue Robot and mechatronics)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011 (2011): _1A2—I10_1—_1A2—I10_4. http://dx.doi.org/10.1299/jsmermd.2011._1a2-i10_1.

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KAWASAKI, Takahiro, Shujiro DOHTA, Tetsuya AKAGI, and Kengo HARIHARA. "1A2-J08 Development of Search Type Rescue Robot Using Flexible Pneumatic Actuator(Search and Rescue Robot and mechatronics)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011 (2011): _1A2—J08_1—_1A2—J08_4. http://dx.doi.org/10.1299/jsmermd.2011._1a2-j08_1.

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Chen, Junjie, Shuai Li, Donghai Liu, and Xueping Li. "AiRobSim: Simulating a Multisensor Aerial Robot for Urban Search and Rescue Operation and Training." Sensors 20, no. 18 (2020): 5223. http://dx.doi.org/10.3390/s20185223.

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Unmanned aerial vehicles (UAVs), equipped with a variety of sensors, are being used to provide actionable information to augment first responders’ situational awareness in disaster areas for urban search and rescue (SaR) operations. However, existing aerial robots are unable to sense the occluded spaces in collapsed structures, and voids buried in disaster rubble that may contain victims. In this study, we developed a framework, AiRobSim, to simulate an aerial robot to acquire both aboveground and underground information for post-disaster SaR. The integration of UAV, ground-penetrating radar (GPR), and other sensors, such as global navigation satellite system (GNSS), inertial measurement unit (IMU), and cameras, enables the aerial robot to provide a holistic view of the complex urban disaster areas. The robot-collected data can help locate critical spaces under the rubble to save trapped victims. The simulation framework can serve as a virtual training platform for novice users to control and operate the robot before actual deployment. Data streams provided by the platform, which include maneuver commands, robot states and environmental information, have potential to facilitate the understanding of the decision-making process in urban SaR and the training of future intelligent SaR robots.

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Zhang, Hanfei. "Design of a Snake-Inspired Robot for Disaster Response." Journal of Computing and Electronic Information Management 16, no. 3 (2025): 39–43. https://doi.org/10.54097/7cvtxe67.

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In response to the urgent need for rescue operations in complex post-disaster environments, this paper presents the design and implementation of a snake-like rescue robot characterized by high mobility, strong environmental adaptability, and intelligent capabilities. Beginning with an overview of the background, the paper highlights the critical role of rescue robots in improving operational efficiency and reducing risks to human personnel. It provides an in-depth analysis of key technologies including joint structure design, control systems, communication functions, motion control, and spatial data management. The proposed robot adopts a modular architecture, integrating multiple sensors and intelligent algorithms to enable agile navigation, real-time perception, autonomous decision-making, and remote collaboration. Capable of performing detection and rescue tasks efficiently in narrow and hazardous areas, this robot offers a viable technological solution for disaster emergency response. The research lays a solid theoretical and practical foundation for advancements in the field of intelligent search and rescue robotics.

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Wang, Peng, Xin Li, Wen Hao Jiang, Shao Chen Kang, and Jing Lei Xin. "Research on Gait Analysis and Planning of Quadruped Search-Rescue Robot." Applied Mechanics and Materials 121-126 (October 2011): 1484–88. http://dx.doi.org/10.4028/www.scientific.net/amm.121-126.1484.

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The search and rescue robot has the characteristics of quadruped walking machine. According to the actual structure of the quadruped robot body，the walking pose of the robot are planned，based on the study of the animal gait．The distributions of degrees-of-freedom is analyzed to ensure stable walking. A simulation model of quadruped search and rescue robot is established in ADAMS, and the motion characteristics of the system are observed using the simulation model established. Simulation results show that the motion characteristics of the system are closed related to the length of stride.

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Hayashi, Koichiro, Yasuyoshi Yokokohji, and Tsuneo Yoshikawa. "Tele-Existence Vision System with Image Stabilization for Rescue Robots." Journal of Robotics and Mechatronics 17, no. 2 (2005): 181–88. http://dx.doi.org/10.20965/jrm.2005.p0181.

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The purpose of this research is to develop an intuitive interface to control rescue robots. We propose a new image stabilization system for operating rescue robots easily. The use of teleoperated rescue robots is promising in searching for victims in rubble. In the rescue activities with such robots, operators control the robots remotely through images captured by cameras mounted on the robots. Since the orientation of the robots change rapidly while they move in rubble, image stabilization is necessary so the operators can search for victims without suffering from fatigue or motion sickness. However, robot orientation changes so much that conventional image stabilizing methods does not work. In this paper, we propose a new image stabilization system which cancels camera motion caused by such rapid changes of robot orientation on an uneven terrain. After a preliminary experiment, a 3-DOF camera system was designed based on the newly proposed mechanism. To verify the performance of the camera system, we conducted two experiments. The results of the experiments confirmed that the proposed mechanism shows good image stabilization and good tracking of commanded head motion.

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Wang, Peng, Xin Li, Wen Hao Jiang, Shao Chen Kang, and Jing Lei Xin. "Research on Walking Stability of Quadruped Search-Rescue Robot." Applied Mechanics and Materials 63-64 (June 2011): 831–34. http://dx.doi.org/10.4028/www.scientific.net/amm.63-64.831.

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The search and rescue robot has the characteristics of quadruped walking machine. A simulation model of quadruped search-rescue robot is established in ADAMS, and the kinetics equation is analyzed using Lagrange theory. The walking characteristics and stability evaluation of the system are observed using the simulation model established. Simulation results show that the walking stability of the system is closed related to the length of stride.

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Wang, Peng, Ji Xiang Li, Yuan Zhang, and Wen Hao Jiang. "Environmental Modeling and Walking Simulation of Quadruped Search-Rescue Robot Based on VRML." Applied Mechanics and Materials 494-495 (February 2014): 1270–73. http://dx.doi.org/10.4028/www.scientific.net/amm.494-495.1270.

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In order to create the virtual earthquake environment, VRML modeling language is used to build a real environment that is a 3D mountain scene after earthquake. A simulation model of quadruped search-rescue robot is established in VRML modeling technology. The walking stability of quadruped search-rescue robot is observed using the VRML model established with the change of gravity curve. Simulation results show that the gravity displacement curve of the robot is smooth.

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Ding, Yichen, and Fei Ye. "A search and rescue robot design based on LiDAR technology." Applied and Computational Engineering 30, no. 1 (2024): 238–54. http://dx.doi.org/10.54254/2755-2721/30/20230108.

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For a long time, search and rescue operations during natural disasters and man-made catastrophes have been a major challenge. Due to the rapidly changing environment in disasters, deploying rescue teams for search missions entails significant risks. With advancements in technology, the latest innovations can be applied to search and rescue tasks to reduce these risks. LiDAR (Light Detection and Ranging) sensors can be installed on unmanned search and rescue vehicles to explore the space. This article utilizes solid-state LiDAR technology, along with various algorithms like SLAM (Simultaneous Localization and Mapping) and EKF (Extended Kalman Filter), to design a remotely controlled unmanned exploration vehicle. By capturing point cloud data, it enables modelling and recording of indoor or outdoor spaces, allowing for space exploration and the identification of trapped individuals and other important rescue-related information before rescue personnel enter the premises. This significantly reduces the risks and time involved in search and rescue operations. The prototype vehicle designed in this paper possesses the advantages of low cost and high flexibility, making it feasible for direct deployment after minor optimization. Finally, the author provides a summary and outlook for this research.

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Kim, Tae Ho, Sang Ho Bae, Chang Hun Han, and Bongsu Hahn. "The Design of a Low-Cost Sensing and Control Architecture for a Search and Rescue Assistant Robot." Machines 11, no. 3 (2023): 329. http://dx.doi.org/10.3390/machines11030329.

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At a disaster site, unforeseen circumstances can severely limit the activities of rescue workers. The best solution is for a cooperative team of robots and rescue workers to complete the rescue work. Therefore, in this paper, we propose a simple and low-cost sensing and control architecture for a search and rescue assistant robot using a thermal infrared sensor array, an ultrasonic sensor, and a three-axis accelerometer. In the proposed architecture, we estimate the location of human survivors using a low-cost thermal IR sensor array and generate and control the trajectory of approaching the searched human survivors. Obstacle avoidance and control are also possible through 3D position estimation of obstacles using 1D ultrasonic sensor integration. In addition, a three-axis accelerometer is used to estimate the tilt angle of the robot according to terrain conditions, and horizontal control of the storage box angle is performed using this feature. A prototype robot was implemented to experimentally validate its performance and can be easily constructed from inexpensive, commonly available parts. The implementation of this system is simple and cost-effective, making it a viable solution for search and rescue operations. The experimental results have demonstrated the effectiveness of the proposed method, showing that it is capable of achieving a level storage box and identifying the location of survivors while moving on a sloped terrain.

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Sánchez-Rojas, José Armando, José Aníbal Arias-Aguilar, Hiroshi Takemura, and Alberto Elías Petrilli-Barceló. "Staircase Detection, Characterization and Approach Pipeline for Search and Rescue Robots." Applied Sciences 11, no. 22 (2021): 10736. http://dx.doi.org/10.3390/app112210736.

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Currently, most rescue robots are mainly teleoperated and integrate some level of autonomy to reduce the operator’s workload, allowing them to focus on the primary mission tasks. One of the main causes of mission failure are human errors and increasing the robot’s autonomy can increase the probability of success. For this reason, in this work, a stair detection and characterization pipeline is presented. The pipeline is tested on a differential drive robot using the ROS middleware, YOLOv4-tiny and a region growing based clustering algorithm. The pipeline’s staircase detector was implemented using the Neural Compute Engines (NCEs) of the OpenCV AI Kit with Depth (OAK-D) RGB-D camera, which allowed the implementation using the robot’s computer without a GPU and, thus, could be implemented in similar robots to increase autonomy. Furthermore, by using this pipeline we were able to implement a Fuzzy controller that allows the robot to align itself, autonomously, with the staircase. Our work can be used in different robots running the ROS middleware and can increase autonomy, allowing the operator to focus on the primary mission tasks. Furthermore, due to the design of the pipeline, it can be used with different types of RGB-D cameras, including those that generate noisy point clouds from low disparity depth images.

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Trevai, Chomchana, Norisuke Fujii, Jun Ota, and Tamio Arai. "Multiple Mobile Robot Exploration and Patrol Strategy Using a Self-Organizing Planner Based on a Reaction-Diffusion Equation on a Graph." Journal of Robotics and Mechatronics 20, no. 1 (2008): 24–37. http://dx.doi.org/10.20965/jrm.2008.p0024.

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In this paper, we propose a search and surveillance with mobile robots to collect information while minimizing repeated coverage to maximize efficiency. The problem of search and surveillance is defined as one having a mobile robot or covering a working area with sensor footprints. The problem is applicable to tasks such as floor cleaning, map building, surveillance, security patrols, and search and rescue operations. We use a reaction-diffusion equation on a graph (RDEG), we make and remake plans online base on incoming environmental information. The strategy is applicable to patrolling tasks after an environment has been completely explorated. Tasks are allocated to multiple mobile robots, among which a temporary leader, i.e., the robot detecting a drastic change in the environment, plans a strategy for other mobile robots on the team. Sensing and positioning data for each robot is broadcast and shared among robots. Simulation in different scenarios using one to three robots demonstrated the feasibility of increasing the number of robots on a team.

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Pang, Tao, Xiao Gang Ruan, Er Shen Wang, and Rui Yuan Fan. "Search and Rescue Robot Path Planning in Unknown Environment." Applied Mechanics and Materials 241-244 (December 2012): 1682–87. http://dx.doi.org/10.4028/www.scientific.net/amm.241-244.1682.

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For the path planning problem of search and rescue robot in unknown environment, a bionic learning algorithm was proposed. The GSOM (Growing Self-organizing Map) algorithm was used to build the environment cognitive map. The heuristic search A* algorithm was used to find the global optimal path from initial state to target state. When the local environment was changed, reinforcement learning algorithm based on sensor information was used to guide the search and rescue robot behavior of local path planning. Simulation results show the method effectiveness.

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SYAFITRI, NIKEN, RATNA SUSANA, IHSAN FARRASSALAM AMMARPRAWIRA, MOCHAMAD SEPTONI FAUZI, and ARBI ABDUL JABBAAR. "The Autonomous Disaster Victim Search Robot using the Waypoint Method." ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika 8, no. 2 (2020): 347. http://dx.doi.org/10.26760/elkomika.v8i2.347.

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ABSTRAKPada kasus bencana alam, penyebaran robot pada area bencana sangat bermanfaat bagi tim SAR dalam proses pencarian korban. Khususnya, jika robot yang disebar merupakan robot otonom untuk meningkatkan proses pencarian, secara efektif dan efisien. Pada artikel ini, kami mengusulkan sebuah robot otonom untuk pencarian korban bencana yang ditanamkan metode waypoint dengan mengeksploitasi sensor, GPS dan divais komunikasi. Hasil yang didapat menunjukkan bahwa robot ini mampu mencari korban bencana secara otonom dengan mendeteksi pergerakan kecil dan temperatur korban. Kemudian, koordinat lokasi korban dikirim ke tim SAR untuk operasi penyelamatan. Robot ini juga mampu melakukan perjalanan pulang ke posko asal untuk pengisian daya ketika daya baterainya hampir habis.Kata kunci: robot otonom, waypoint, bencana, pencarian korban, perjalanan pulang ABSTRACTIn the case of disaster, the deployment of robots is immensely helpful for SAR team in the process of searching the victims. Especially, if the deployed robots are autonomous to enhance the searching process, effectively and efficiently. In this paper, we propose an autonomous robot for searching the disaster victims embedded by automatic waypoint method by exploiting sensors, GPS and communication devices. Result shows that this robot is able to search the victims autonomously by detecting their slight movement and temperature then sending the coordinates to the SAR team for the rescue operation. This robot is also able to do the return trip autonomously to the initial post for charging when its power is almost running out.Keywords: autonomous robot, waypoint, disaster, victim searching, return trip

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Saito, Asuki, Kazuki Nagayama, Kazuyuki Ito, Takeo Oomichi, Satoshi Ashizawa, and Fumitoshi Matsuno. "Semi-Autonomous Multi-Legged Robot with Suckers to Climb a Wall." Journal of Robotics and Mechatronics 30, no. 1 (2018): 24–32. http://dx.doi.org/10.20965/jrm.2018.p0024.

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In recent years, the maintenance and inspection of old buildings have become important tasks for robots. Such robots are also expected to be used for search and rescue missions in the case of disasters. In our previous work, we developed a multi-legged robot for such tasks. In the current work, we focused on the task of climbing a vertical wall. We improved our previous robot and developed a flexible leg with a sucker to climb a wall.

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G.V Chalapathi Rao, Kandhyanam Mahesh, and Maheshwaram Shiva. "Gradient Based Routing Protocol For Modular Robotics." international journal of engineering technology and management sciences 7, no. 3 (2023): 235–40. http://dx.doi.org/10.46647/ijetms.2023.v07i03.030.

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Advancements in microprocessor-based systems have revolutionized robotics, enabling single-robot and multi-robot systems (MRS) to excel in various applications such as search and rescue, forest fire detection, mining, and disaster management. MRS systems amplify robot capabilities, enabling complex tasks and distributed operations. Effective communication between robots is crucial for optimal performance. This paper explores MRS architectures, emphasizing networking issues and required services for enhanced efficiency. It compares MRS systems to mobile ad hoc networks (MANETs), analyzes robot-to-robot (R2R) and robot-to-infrastructure (R2I) communication links, and identifies protocols applicable at different levels of the MRS hierarchy.

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Ko, Albert W. Y., and Henry Y. K. Lau. "Intelligent Robot-Assisted Humanitarian Search and Rescue System." International Journal of Advanced Robotic Systems 6, no. 2 (2009): 12. http://dx.doi.org/10.5772/6792.

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Manuel, Melvin P., Mariam Faied, Mohan Krishnan, and Mark Paulik. "Robot Platooning Strategy for Search and Rescue Operations." Intelligent Service Robotics 15, no. 1 (2021): 57–68. http://dx.doi.org/10.1007/s11370-021-00390-7.

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Bartlett, Cade E., and Nancy J. Cooke. "Human-Robot Teaming in Urban Search and Rescue." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 59, no. 1 (2015): 250–54. http://dx.doi.org/10.1177/1541931215591051.

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Osuka, Koichi. "Special Issue on “What can We do for Developing Search and Rescue Robot?”." Journal of Robotics and Mechatronics 26, no. 4 (2014): 435. http://dx.doi.org/10.20965/jrm.2014.p0435.

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As a disaster-prone country, Japan has endured many earthquake disasters. The latest cases include the 1995 Great Hanshin-Awaji earthquake disaster, the 2004 Niigata Chuetsu earthquake, and the 2011 Great East Japan earthquake. Since the 1995 Great Hanshin-Awaji earthquake in particular, many robot researchers have started undertaking the research and development of rescue robots. Their practical applications have a long way to go, so to continue ongoing robot research and development, we should also be aware that comparatively few researchers and engineers are actually engaged in such research and development. Great earthquakes (or tsunami) are both rare and unpredictable, which makes it very difficult to establish research policies for rescue robots intended for specialized use in disaster response. We should also realize that Japan is almost constantly hit by one or another every year – e.g., the typhoons that hit Japan directly every year and themselves triggering other disasters caused by landslides or avalanches due to heavy rainfall. The Japanese populace is so accustomed to such happenings but, nevertheless, few actions have been taken unlike those against large-scale earthquakes. It is often said that an effective disaster response system can only be developed after we have experienced many actual disasters. It then occurs to us that we must first construct disaster response systems – rescue robots, etc. – directly targeting daily natural disasters. Any large-scale disaster response system can be built on such constant efforts. On the other hand, any disaster response system against daily natural disasters could only be developed by locally domiciled researchers and engineers. This makes us feel that it is possible to increase the number of personnel who become involved in disaster response research and development. Based on the above context, this special issue provides a wide range of articles on region-specific disasters and disaster response actions, focusing on their localities and specialties. We sincerely hope that this special issue will help in promoting research and development on rescue robots and putting them to practical use.

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Journal articles on the topic 'Robot search and rescue'

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