Abstract
The paper considers three important issues in the design and utilisation of teleoperated urban search and rescue robot systems, namely localisation, locomotion and human-robot interfaces. Prototype systems are designed, developed and presented. For the localisation aspects a cost effective infrared beacon based system is presented for 2D applications. For the locomotion aspects a four-limbed adaptive articulated tracked vehicle is presented having the capability of changing its mode of operation to overcome large obstacles and move effectively in unstructured environments. For the human-robot interaction aspects, key user-centric metrics are proposed and investigated to assess the effect on overall system performance. The metrics considered are situation awareness, tele-presence and workload. Experimental results for all three aspects are presented.
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