1. Robots for Urban Search and Rescue Game-Based Design of Human- Robot Interfaces for USR CHI2004

2. 2 Robotic Search and Rescue ► At least 3 used to search the rubble of the World Trade Center ► Not very sophisticated bots

3. 3 Other robotic work ► Life-threatening work, like mine-clearing ► De-mining resulted in at least 500 deaths from 1996 to 2002, according to a database maintained by the Journal of Mine Action.

4. 4 RoboCupRescue ► Simulation Project, Robotics and Infrastructure Project, Simulation League and Robot League ► Integration of these activities creates digitally-empowered international rescue brigades in the future.

5. 5 Inspirational Interface ► First Person Shooters ► Besides point and click fragging, players can …  quickly assess the environment  make time-critical decisions  control low-level decisions This maps very closely with the requirements and goals of Urban Search and Rescue

6. 6 brothers? cousins? ► Searching a maze or building for enemies ► Vs. ► Using a robot to explore an arena and find victims

7. 7 HRI ► Human-Robot Interface awareness  Human side: location, activities, status, and surroundings of the robot  Robot side: human commands it will receive, and physics it operates under

8. 8 awarenesses II ► From the FPS user interface, we derive the ideas of …  Surroundings awareness  Status awareness

9. 9 The robot design ► Magellan Pro robot ► 450 MHz PIII ► 16 sensor panels ► Pan-tilt-zoom camara ► Wireless microphone

10. 10

11. 11 Interface incorporation ► Most control via keyboard ► No “mouselook” due to hardware limitations ► WASD for robot direction ► UHJK for vision

12. 12 ► Victim interest point ► Dialog window for entering victim data ► Saved time - didn’t have to fill out paper form ► Additions:  Creates on the fly webpage of victim data

13. 13 Hip Info ► Dynamically created webpage could be sent to rescue workers equipped with PDAs ► Instant access to …  victim's status  image of the victim  surrounding area  a map to the victim

14. 14 End Game ► Results:  Keyboard design idea good and quick, but with a high learning curve  Large rotational movements had bad effects  Short-changed surroundings awareness

15. 15 The Future ► Harder Competitions  More real-life problems, like communication blackouts ► With more autonomy comes … more robots searching!  Redundancy  Faster search ► Another point of view design needed

16. 16 “real time strategy” games (RTS in nerdspeak)

17. 17 RTS UI requirements ► Accurate mapping and localization ► Autonomous navigation and searching ► Sharing of information amongst robots ► Ability to identify relevant visual features

18. 18 Game Over (Groan)Credits: Maxwell, Ward, Heckel, Game-Based Design of Human-Robot Interfaces for Urban Search and Rescue Nat’l Geographic Today news article (http://news.nationalgeographic.com/news/2001/09/0914_TVdisasterrobot.html) Blizzard Entertainment (Starcraft) Microsoft Games (Halo) RoboCupRescue - http://www.isd.mel.nist.gov/RoboCup2003/background.htm http://www.isd.mel.nist.gov/RoboCup2003/background.htm PCWorld.com – mine robots news ( http://www.pcworld.com/news/article/0,aid,110127,00.asp )