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Abstract
This paper reports on insights by robotics researchers that participated in a 5-day robot-assisted nuclear disaster response field exercise conducted by Kerntechnische Hilfdienst GmbH (KHG) in Karlsruhe, Germany. The German nuclear industry established KHG to provide a robot-assisted emergency response capability for nuclear accidents. We present a systematic description of the equipment used; the robot operators' training program; the field exercise and robot tasks; and the protocols followed during the exercise. Additionally, we provide insights and suggestions for advancing disaster response robotics based on these observations. Specifically, the main degradation in performance comes from the cognitive and attentional demands on the operator. Furthermore, robotic platforms and modules should aim to be robust and reliable in addition to their ease of use. Last, as emergency response stakeholders are often skeptical about using autonomous systems, we suggest adopting a variable autonomy paradigm to integrate autonomous robotic capabilities with the human-in-the-loop gradually. This middle ground between teleoperation and autonomy can increase end-user acceptance while directly alleviating some of the operator's robot control burden and maintaining the resilience of the human-in-the-loop.
Original language | English |
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Title of host publication | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Publisher | IEEE |
Pages | 4545-4552 |
Number of pages | 8 |
ISBN (Electronic) | 9781665479271 |
ISBN (Print) | 9781665479288 (PoD) |
DOIs | |
Publication status | Published - 26 Dec 2022 |
Event | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 - Kyoto International Conference Center, Kyoto, Japan Duration: 23 Oct 2022 → 27 Oct 2022 https://iros2022.org/ |
Publication series
Name | Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems |
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Publisher | IEEE |
ISSN (Print) | 2153-0858 |
ISSN (Electronic) | 2153-0866 |
Conference
Conference | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 |
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Abbreviated title | IROS 2022 |
Country/Territory | Japan |
City | Kyoto |
Period | 23/10/22 → 27/10/22 |
Internet address |
Bibliographical note
Funding Information:This work was supported by the UKRI-EPSRC grant EP/R02572X/1 (UK National Centre for Nuclear Robotics).
Publisher Copyright:
© 2022 IEEE.
Keywords
- disaster response
- field robotics
- human-in-the-loop
- human-robot teaming
- nuclear environment robotics
- remote inspection
- shared autonomy
- variable autonomy
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Fingerprint
Dive into the research topics of 'Robot-Assisted Nuclear Disaster Response: Report and Insights from a Field Exercise'. Together they form a unique fingerprint.Projects
- 1 Finished
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National Centre for Nuclear Robotics (NCNR)
Stolkin, R. (Principal Investigator), Leonardis, A. (Co-Investigator) & Stone, B. (Co-Investigator)
Engineering & Physical Science Research Council
2/10/17 → 1/04/22
Project: Research