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000208859 005__ 20180913063138.0
000208859 0247_ $$2doi$$a10.1109/ARSO.2015.7428215
000208859 037__ $$aCONF
000208859 245__ $$aProviding and Optimizing a Robotic Construction Plan for Rescue Operations
000208859 269__ $$a2015
000208859 260__ $$c2015
000208859 336__ $$aConference Papers
000208859 520__ $$aAfter a terrible disaster such as an earthquake or a nuclear accident, finding victims and isolating them from hazards are usually the first priorities for rescuers. As the security of rescuers and the stabilization of the environment are critical components of the first rescue phase, we assume that robots could be used to secure the environment by performing construction tasks, to stabilize large structures, and/or protect the victims. In this paper we suggest an approach consisting of using mobile robots to construct protective walls on a site affected by a nuclear disaster. Protective walls can help to block radiation from toxic sources and protect both victims and rescuers. On the other hand, the robot’s vulnerability to radiation restricts its freedom of movements into unsafe regions. Therefore, building protective walls needs a plan (construction plan) that involves three competing objectives: victim safety, rescuer safety, and robot safety. Weighting these factors is a societal choice, is not trivial, and impacts the whole system. In this paper, we provide and optimize the construction plan using a genetic algorithm based on three objectives. We analyze the construction plan performance with respect to execution time. We also analyze the trade-offs involved between these competing objectives in different environments with ranging physical complexity (e.g., a number of victims or sources).
000208859 6531_ $$aRobotic Construction Plan
000208859 6531_ $$aGenetic algorithm
000208859 6531_ $$aCompeting objectives
000208859 6531_ $$aSearch and rescue
000208859 700__ $$0246785$$g221025$$aArdiny, Hadi
000208859 700__ $$0247599$$g237527$$aWitwicki, Stefan John
000208859 700__ $$aMondada, Francesco$$g102717$$0240589
000208859 7112_ $$d1-3 July$$clyon$$aThe 2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO 2015)
000208859 909C0 $$0252016$$pLSRO
000208859 909CO $$ooai:infoscience.tind.io:208859$$pconf$$pSTI
000208859 917Z8 $$x221025
000208859 917Z8 $$x221025
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000208859 917Z8 $$x221025
000208859 937__ $$aEPFL-CONF-208859
000208859 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000208859 980__ $$aCONF