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Issue No. 01 - January-March (2005 vol. 4)
ISSN: 1536-1268
pp: 72-78
Illah R. Nourbakhsh , The Robotics Institute
Katia Sycara , The Robotics Institute
Mary Koes , The Robotics Institute
Mark Yong , The Robotics Institute
Michael Lewis , University of Pittsburgh
Steve Burion , Swiss Federal Institute of Technology (EPFL)
Urban Search and Rescue is a rich and challenging domain for studying robotics, human-robot interaction, and distributed, coordinated mobile computation. This article describes the NIST standardized USAR environment and presents the development of its robotic and simulation-driven systems. Developing the physical and simulation systems in parallel offers many advantages. This work has three areas of technical contributions: the authors' agent-based architecture for distributed, computationally enabled mobile rescue teams, their approach to sensor fusion for victim discovery in USAR; and their approach to control interface design for increased human-operator situation awareness during robot control. They're proven their project architecture through both real-world and high-fidelity, simulated human-robot rescue demonstrations. They won third place at the national RoboCup Rescue competition in April 2004.
USAR, urban search and rescue, mobile robotics, robot simulation, agents, robot architecture

M. Yong, M. Koes, K. Sycara, M. Lewis, I. R. Nourbakhsh and S. Burion, "Human-Robot Teaming for Search and Rescue," in IEEE Pervasive Computing, vol. 4, no. , pp. 72-78, 2005.
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