A field study of two techniques for situation awareness for robot navigation in urban search and rescue

In this paper we examine the performance of robot systems that use two different techniques for situation awareness for operators of robots in an urban search and rescue (USAR) competition: an automatic mapping technique using sonar and laser sensors and the use of an overhead camera to provide a frame of reference. In order to analyze situation awareness, we classified a subset of critical incidents that occurred during the RoboCup 2004 competition. While we conclude that both techniques lower critical incidents in local navigation and obstacle encounters, this result should be interpreted with caution as it is based on our field study results. A more controlled laboratory follow up study is planned.