Abstract
This paper presents methods for a cooperative rescue operation in partially or totally unknown areas with human and robotic explorers. Cooperation is based on a common presence i.e. a common understanding of the environment for both humans and robots. The common presence is generated by continuous mapping data supplied by robotic and human entities. Mapping data is pre-processed and transmitted to the mission controller/operator, who finally filters the data to a common presence, which is transmitted continuously back to both entities. The studied methods are human navigation without artificial beacons, human and robotic SLAM, cooperative localization and cooperative map/model building for common presence. Methods are developed, tested and integrated in a European Community research project called Pe LoTe.
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