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Water events are the most frequent and costliest climate disasters around the world. In the U.S., an estimated 127 million people who live in coastal areas are at risk of substantial home damage from hurricanes or flooding. In flood…
Identifying the environment's structure, i.e., to detect core components as rooms and walls, can facilitate several tasks fundamental for the successful operation of indoor autonomous mobile robots, including semantic environment…
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…
Construction spaces are constantly evolving, dynamic environments in need of continuous surveying, inspection, and assessment. Traditional manual inspection of such spaces proves to be an arduous and time-consuming activity. Automation…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However,…
This document presents the Center for Robot Assisted Search And Rescue - Uncrewed Aerial Systems - Disaster Response Overhead Inspection Dataset (CRASAR-U-DROIDs) for building damage assessment and spatial alignment collected from small…
Rapid and accurate building damage assessments from high-resolution satellite imagery following a natural disaster is essential to inform and optimize first responder efforts. However, performing such building damage assessments in an…
Rapid and accurate building damage assessment in the immediate aftermath of tornadoes is critical for coordinating life-saving search and rescue operations, optimizing emergency resource allocation, and accelerating community recovery.…
The proliferation of robots in public spaces necessitates a deeper understanding of how these robots can interact with those they share the space with. In this paper, we present findings from video analysis of publicly deployed cleaning…
Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…
Climate change is leading to more and more extreme weather events such as heavy rainfall and flooding. This technical report deals with the question of how rescue commanders can be better and faster provided with current information during…
Detailed structural building information is used to estimate potential damage from hazard events like cyclones, floods, and landslides, making them critical for urban resilience planning and disaster risk reduction. However, such…
Current robot platforms are being employed to collaborate with humans in a wide range of domestic and industrial tasks. These environments require autonomous systems that are able to classify and communicate anomalous situations such as…
In response to the critical need for effective reconnaissance in disaster scenarios, this research article presents the design and implementation of a complete autonomous robot system using the Turtlebot3 with Robotic Operating System (ROS)…
Rapid identification of damaged buildings after natural disasters or on war areas is crucial to support emergency response and prioritize interventions. Earth Observation constellations provide timely, large-scale coverage, but actionable…
Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered…
This article concerns the statistical modelling of emergency service response times. We apply advanced methods from spatial survival analysis to deliver inference for data collected by the London Fire Brigade on response times to reported…
Robots are increasingly present in human spaces, such as for conducting deliveries in hospitals, interacting with visitors at museums, and stocking items in warehouses. To ensure the seamless integration of robots into these spaces, a new…