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Robots for Urban Robots for Urban Search and RescueSearch and Rescue
Game-Based Design of Game-Based Design of Human-Robot Interfaces for Human-Robot Interfaces for
USRUSR
CHI2004CHI2004
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Robotic Search and RescueRobotic Search and Rescue
► At least 3 used to search At least 3 used to search the rubble of the World the rubble of the World Trade CenterTrade Center
►Not very sophisticated botsNot very sophisticated bots
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Other robotic workOther robotic work
► Life-threatening Life-threatening work, like mine-work, like mine-clearingclearing
► De-mining resulted De-mining resulted in at least 500 in at least 500 deaths from 1996 to deaths from 1996 to 2002, according to a 2002, according to a database maintained database maintained by the Journal of by the Journal of Mine Action. Mine Action.
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RoboCupRescueRoboCupRescue
► Simulation Project, Robotics and Simulation Project, Robotics and Infrastructure Project, Infrastructure Project, Simulation League and Robot Simulation League and Robot LeagueLeague
► Integration of these activities Integration of these activities creates digitally-empowered creates digitally-empowered international rescue brigades in international rescue brigades in the future. the future.
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Inspirational Interface Inspirational Interface
►First Person ShootersFirst Person Shooters►Besides point and click fragging, Besides point and click fragging,
players can …players can … quickly assess the environmentquickly assess the environment make time-critical decisionsmake time-critical decisions control low-level decisionscontrol low-level decisions
This maps very closely with the requirements This maps very closely with the requirements and goals of Urban Search and Rescueand goals of Urban Search and Rescue
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brothers? cousins?brothers? cousins?
►Searching a maze or building for Searching a maze or building for enemiesenemies
►Vs.Vs.►Using a robot to explore an arena and Using a robot to explore an arena and
find victimsfind victims
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HRIHRI
►Human-Robot Interface awarenessHuman-Robot Interface awareness Human side: location, activities, status, Human side: location, activities, status,
and surroundings of the robotand surroundings of the robot Robot side: human commands it will Robot side: human commands it will
receive, and physics it operates under receive, and physics it operates under
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awarenesses IIawarenesses II
►From the FPS user interface, we derive From the FPS user interface, we derive the ideas of …the ideas of … Surroundings awarenessSurroundings awareness Status awarenessStatus awareness
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The robot designThe robot design
►Magellan Pro robotMagellan Pro robot► 450 MHz PIII 450 MHz PIII ► 16 sensor panels16 sensor panels► Pan-tilt-zoom camaraPan-tilt-zoom camara►Wireless microphoneWireless microphone
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Interface incorporationInterface incorporation
►Most control via Most control via keyboardkeyboard
►No “mouselook” No “mouselook” due to hardware due to hardware limitationslimitations
►WASD for robot WASD for robot directiondirection
► UHJK for visionUHJK for vision
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► Victim interest point Victim interest point ►Dialog window for Dialog window for
entering victim dataentering victim data► Saved time - didn’t have Saved time - didn’t have
to fill out paper formto fill out paper form
► Additions:Additions: Creates on the fly Creates on the fly
webpage of victim datawebpage of victim data
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Hip InfoHip Info
►Dynamically created webpage could be Dynamically created webpage could be sent to rescue workers equipped with sent to rescue workers equipped with PDAsPDAs
► Instant access to …Instant access to … victim's statusvictim's status image of the victimimage of the victim surrounding areasurrounding area a map to the victima map to the victim
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End GameEnd Game
►Results:Results: Keyboard design idea good and quick, but Keyboard design idea good and quick, but
with a high learning curvewith a high learning curve Large rotational movements had bad Large rotational movements had bad
effectseffects Short-changed surroundings awarenessShort-changed surroundings awareness
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The FutureThe Future
►Harder CompetitionsHarder Competitions More real-life problems, like More real-life problems, like
communication blackoutscommunication blackouts
►With more autonomy comes … more With more autonomy comes … more robots searching!robots searching! RedundancyRedundancy Faster searchFaster search
►Another point of view design neededAnother point of view design needed
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““real time strategy” gamesreal time strategy” games(RTS in nerdspeak)(RTS in nerdspeak)
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RTS UI requirementsRTS UI requirements
►Accurate mapping and localizationAccurate mapping and localization►Autonomous navigation and searchingAutonomous navigation and searching►Sharing of information amongst robotsSharing of information amongst robots►Ability to identify relevant visual Ability to identify relevant visual
featuresfeatures
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Game OverGame Over(Groan)(Groan)
Credits:Credits:Maxwell, Ward, Heckel, Game-Based Design of Human-Maxwell, Ward, Heckel, Game-Based Design of Human-
Robot Interfaces for Urban Search and RescueRobot Interfaces for Urban Search and RescueNat’l Geographic Today news articleNat’l Geographic Today news article(http://news.nationalgeographic.com/news/(http://news.nationalgeographic.com/news/
2001/09/0914_TVdisasterrobot2001/09/0914_TVdisasterrobot.html).html)
Blizzard Entertainment (Starcraft)Blizzard Entertainment (Starcraft)Microsoft Games (Halo)Microsoft Games (Halo)RoboCupRescue - RoboCupRescue - http://www.isd.mel.nist.gov/RoboCup2003/background.htmhttp://www.isd.mel.nist.gov/RoboCup2003/background.htmPCWorld.com – mine robots news PCWorld.com – mine robots news
((http://www.pcworld.com/news/article/0,aid,110127,00.http://www.pcworld.com/news/article/0,aid,110127,00.aspasp))