Autonomous Systems for Rescue Missions: Design, Architecture and Configuration Validation
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Autonomous Systems for Rescue Missions: Design, Architecture and Configuration Validation Tullio Tanzi 1 & Matteo Bertolino 1 Accepted: 22 October 2020 # Springer Science+Business Media, LLC, part of Springer Nature 2020
Abstract In the context of disaster management, the intervention of Autonomous Systems brings many benefits to human rescuers. Autonomous Systems can quickly reach regions that may be inaccessible for humans. In addition, they can perform a rapid mapping of the impacted area and therefore enhancing the human knowledge. However, it is necessary to choose the best Autonomous Systems according to (i) mission environment and (ii) mission objectives. In this article, we describe our work on ArcTurius rover, a wheeled Autonomous System in support to disaster management. We validated its design through simulation and formal verification. A first simulation step occurs during the system definition. This allows to formally verify the design choices. A second type of simulation is performed to check the adequacy of the rover with respect to a specific mission. Thus, an Autonomous System can be adapted prior to a real mission to enhance its level of performance. Keywords Disaster management . Autonomous systems . Modelling . Simulation
1 Introduction Managing an event such as a crisis, whether natural or humaninduced, is a complex process in which information has a great importance. It is therefore important to have accurate and upto-date information of the impacted zone. Recent advances in modern technology can contribute to the definition of a disaster management strategy by supporting such data acquisition. Intervention teams can take advantage from the use of Autonomous Systems (A.S.) to speed-up the data acquisition process. Benefits do not concern only gains from timing point of view. Autonomous Systems such as Rovers or Drones can provide a high-quality work even in the context of areas that are hard to be reached by humans. In addition, the intervention of A.S. before a mission can enhance the knowledge of human rescuers, especially in the context on a hostile environment due to the disaster. Autonomous Systems can reach places that may be inaccessible or dangerous to humans. However, it is necessary to choose the best A.S. according to (i) mission environment and (ii) objectives of the mission. Indeed, an
* Tullio Tanzi [email protected] 1
LTCI, Télécom Paris, Institut Polytechnique de Paris, Paris, France
A.S. that is not suitable for a certain environment (e.g., a rover whose wheels are not adapted to cross the target terrain) or a certain goal (e.g., a drone whose maximum operating work duration is less than the one required by a specific mission) has serious implications with respect to the outcome of the mission itself. On one hand, unsuitable A.S. can lead to an important wasting of time. In the context of disaster management, there is a strong correlation between timing and survival probabilities. On the other hand, unsuitable A.S. can provide erroneous information to rescuers
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