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Multi-Robot System for Cooperation with First Response Human and Canine Rescue Teams in Catastrophe Scenarios

Subprograma: RETOS
Referencia: DPI2015-65186-R
Investigador Principal 1: GARCIA CEREZO, ALFONSO
Investigador Principal 2: MANDOW ANDALUZ, ANTONIO


In emergency response protocols, First Response aims to collect and assess relevant information from the disaster zone prior to the decision of sending rescue workers. First Response is a significant application for Rescue Robotics, as it is a potentially hazardous activity in which first responders usually race against time under difficult perceptual conditions.

The mission of the FIRST-ROB project is to develop a comprehensive and user-centered mechatronic multi-robot system to cooperate with First Response teams with the ultimate goals of reducing the risks for workers and improving their efficiency. Thus, the coordinated efforts of human first responders would be supported not only by canine units but also by a robotic team. The system will integrate data from the robots and specific canine-mounted devices to produce crucial information for the rescue teams, including situation awareness, zone mapping, and accessibility, as well as to facilitate early detection and prioritization (i.e., triage) of victims.

The FIRST-ROB robotic team will be constituted by at least one unmanned ground vehicle (UGV) and one aerial vehicle (UAV), both in semi-autonomous operation. The UGV will be equipped with multispectral vision, 3D LIDAR, gas monitoring sensors, and communication systems suitable for complex environments, as well as a light manipulator with a sensorized hand for measuring force, pressure, temperature, pulse rate, and arterial pressure. The UAV will carry a multispectral camera and a small manipulator with tactile sensors. Furthermore, augmented reality systems will be used by first responders for improved perception, and both human and canine units will be monitored through individual transmitters. The control and monitoring station will be designed to be installed in a road vehicle. The functions performed by this station will include robot tele-operation with haptic interfaces, generation of information for augmented reality, and communication with the Emergency Response Coordination Centre. End users and emergency response experts will be actively involved in the project through the support of the Universidad de Málaga Chair for Security, Emergency and Catastrophes. Furthermore, the project pursues the use of the resulting system in realistic emergency drills with professional rescue response teams.



Television coverage of public demonstration (june 2018), "En Red", Andalucía TV:




  • Gómez-de-Gabriel, J.M., Gandarias, J.M., Pérez-Maldonado, F.J., García-Núñez, F.J., Fernández-García,  E.J., García-Cerezo, A.J.
    Methods for Autonomous Wristband Placement with a Search-and-Rescue Aerial Manipulator
    (2018) IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain.
    DOI: Pending. Accepted for publication
  • Mandow, A., Morales, J.,  Gomez-Ruiz,  J.A., García-Cerezo, A.
    Optimizing Scan Homogeneity for Building Full-3D Lidars based on Rotating a Multi-Beam Velodyne Rangefinder
    (2018) IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain.
    DOI: Pending. Accepted for publication
  • Fernández-Lozano, J.J., Mandow, A., Martín-Guzmán, M., Martín-Ávila, J., Serón, J. Martínez,  J.L., Gomez-Ruiz, J.A., Socarras-Bertiz, C., Miranda-Páez, J., García-Cerezo, A.
    Integration of a Canine Agent in a Wireless Sensor Network for Information Gathering in Search and Rescue Missions
    (2018) IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain.
    DOI: Pending. Accepted for publication 
  •  Herrera, I.E., Mandow, A., García-Cerezo, A.
    Using particle swarm optimization for fuzzy antecedent parameter identification in active suspension control
    (2018) 26th Mediterranean Conference on Control and Automation, Zadar, Croatia, June 2018, pp. 320-325.
    DOI: 10.1109/MED.2018.8442790
  • Pomares, A., Martínez, J.L., Mandow, A., Martínez, M.A., Morán, M., Morales, J.
    Ground extraction from 3D lidar point clouds with the Classification Learner App
    (2018) 26th Mediterranean Conference on Control and Automation, Zadar, Croatia, June 2018, pp.400-405.
    DOI: 10.1109/MED.2018.8442569
  • Fernández-Lozano, J.J., Gomez-Ruiz, J.A., Martín-Guzmán, M., Martín-Ávila, J., Carlos, S.B., García-Cerezo, A.
    Wireless Sensor Networks for Urban Information Systems: Preliminary Results of Integration of an Electric Vehicle as a Mobile Node
    (2018) Advances in Intelligent Systems and Computing, 694, pp. 190-199.
    DOI: 10.1007/978-3-319-70836-2_16
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    Field navigation using fuzzy elevation maps built with local 3D laser scans
    (2018) Applied Sciences, 8 (3), art. no. 397, .
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  • Morales, J., Plaza-Leiva, V., Mandow, A., Gomez-Ruiz, J.A., Serón, J., García-Cerezo, A.
    Analysis of 3D scan measurement distribution with application to a multi-beam lidar on a rotating platform
    (2018) Sensors, 18 (2), art. no. 395, .
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  • Gandarias, J.M., Gómez-de-Gabriel, J.M., García-Cerezo, A.J.
    Enhancing perception with tactile object recognition in adaptive grippers for human-robot interaction
    (2018) Sensors, 18 (3), art. no. 692, .
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  • Gandarias, J.M., Gómez-De-Gabriel, J.M., García-Cerezo, A.J.
    Tactile Sensing and Machine Learning for Human and Object Recognition in Disaster Scenarios
    (2018) Advances in Intelligent Systems and Computing, 694, pp. 165-175.
    DOI: 10.1007/978-3-319-70836-2_14
  • Gandarias, J.M., Gómez-de-Gabriel, J.M., García-Cerezo, A.J.
    Human and Object Recognition with a High-Resolution Tactile Sensor
    (2017) IEEE SENSORS 2017, Glasgow, UK.
    DOI: 10.1109/ICSENS.2017.8234203
  • Martinez, J.L., Morales, J., Mandow, A., Pedraza, S., Garcia-Cerezo, A.
    Inertia-based ICR kinematic model for tracked skid-steer robots
    (2017) SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference, art. no. 8088158, pp. 166-171.
    DOI: 10.1109/SSRR.2017.8088158
  • García, J.M., Martínez, J.L., Mandow, A., García-Cerezo, A.
    Caster-leg aided maneuver for negotiating surface discontinuities with a wheeled skid-steer mobile robot
    (2017) Robotics and Autonomous Systems, 91, pp. 25-37.
    DOI: 10.1016/j.robot.2016.12.007
  • Muñoz-Ramírez, A.J., Luque Bedmar, J.M., Gómez-de-Gabriel, J.M., Mandow, A., Serón, J., García-Cerezo, A.
    Control a Baja Velocidad de una Rueda con Motor de Accionamiento Directo mediante Ingeniería Basada en Modelos
    (2017) XXXVIII Jornadas de Automática, pp. 799-805.
  • Gandarias, J.M., Gómez-de-Gabriel, J.M., García-Cerezo, A.J.
    Clasificación de información táctil para la detección de personas
    (2017) XXXVIII Jornadas de Automática, pp. 732-737. 
  • García, J.M., Medina, I.J., Martínez, J.L., García-Cerezo, A., Linares, A., Porras, C.
    Lázaro: A mobile robot with an arm developed to contact with the ground [Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo]
    (2017) RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 14 (2), pp. 174-183.
    DOI: 10.1016/j.riai.2016.09.012
  • Plaza-Leiva, V., Gomez-Ruiz, J.A., Mandow, A., García-Cerezo, A.
    Voxel-based neighborhood for spatial shape pattern classification of lidar point clouds with supervised learning
    (2017) Sensors, 17 (3), art. no. 594, .
    DOI: 10.3390/s17030594
  • Martínez, Jorge L.; Mandow, Anthony; García-Cerezo, Alfonso; García, Jesús M. 
    Slide-Down Prevention for Wheeled Mobile Robots on Slopes.
    (2017) International Conference on Mechatronics and Robotics Engineering, pp. 63-68, Paris, France, February 8-12, 2017.

    Doi: 10.1145/3068796.3068820
  • Mandow, A., Cantador, T.J., Reina, A.J., Martínez, J.L., Morales, J., García-Cerezo, A.
    Building fuzzy elevation maps from a ground-based 3D laser scan for outdoor mobile robots
    (2016) Advances in Intelligent Systems and Computing, 417, pp. 29-41.
    DOI: 10.1007/978-3-319-27146-0_3
  • Chen, K.,  Plaza-Leiva, V.,  Min, B.C,  Steinfeld, A.,  Dias, M.B. 
    NavCue: Context inmersive navigation assistance for blind travelers. 
    (2016) ACM/IEEE International Conference on Human-Robot Interaction.  pp.559. 2016.
    DOI: 10.1109/HRI.2016.7451855
  • Ikonen, Enso; Najim, Kaddour; Garcia-Cerezo, Alfonso Jose.
    MacPherson suspension system modeling and control with MDP.
    (2016) IEEE Symposium Series on Computational Intelligence.  Athens, Agios Nikolaos (Creta), Greece.
    Doi: 10.1109/SSCI.2016.7849869
  • Herrera, Isabel Elena; Mandow, Anthony; García-Cerezo, Alfonso.
    Identificación de Parámetros Borrosos para el Control de Suspensión Activa mediante Enjambre de Partículas.
    XXXVII Jornadas de Automática, pp. 396-401, Madrid, España. Septiembre 2916.
  • Jorge L. Martínez, Jesús Morales y Manuel Zafra.
    Obtención de barridos láser 3D nivelados con el robot móvil andábata en movimiento. 
    XXXVII Jornadas de Automática
     2016, Madrid, pag. 661-666.
  • Garcia-Cerezo, Alfonso Jose; Mandow-Andaluz, Antonio.
    Tecnología Robótica de Primera Intervención para la Cooperación con Equipos Humanos y Unidades Caninas en Emergencias y Catástrofes. 
    Workshop en Robótica y sistemas no tripulados para aplicaciones de seguridad
    . Organizado por la REDROM (Red Nacional de Robótica y Mecatrónica). Diciembre, 2016- CSIC. Madrid, España.
  • Martín-Guzmán, Miguel; Martín-Ávila, Juan; Martinez-Rodriguez, Jorge Luis; Fernandez-Lozano, Juan Jesus; García-hernández, José Manuel; Miranda-Paez, Jesus; Mandow-Andaluz, Antonio; Garcia-Cerezo, Alfonso Jose.
    Coordinación de un perro de rescate sensorizado y UAV para búsqueda de víctimas - Ejercicio piloto.
    XXXVI Jornadas de Automática. Septiembre/2015. Bilbao, España
  • Plaza-Leiva, V., Gomez-Ruiz, J.A., Mandow, A., Garcia-Cerezo, A.J.
    Multi-layer Perceptrons for Voxel-Based Classification of Point Clouds from Natural Enviroments. 
    (2015) Lecture Notes in Computer Science, 9095, pp. 250-261.
    DOI: 10.1007/978-3-319-19222-2_21
  • Plaza-Leiva, Victoria; Gomez-Ruiz, Jose Antonio; Mandow-Andaluz, Antonio; Morales-Rodriguez, Jesús; Garcia-Cerezo, Alfonso Jose.
    Occupancy Grids Generation based on Geometric-Featured Voxel Maps. 
    (2015) 23rd Mediterranean Conference on Control and Automation. Torremolinos – Spain.
    BDoi: 10.1109/MED.2015.7158838.
  • García-Caicedo, Jesús Marcey; Martinez-Rodriguez, Jorge Luis; Mandow-Andaluz, Antonio; Garcia-Cerezo, Alfonso Jose.
    Steerability analysis on slopes of a mobile robot with a ground contact arm.  
    (2015) 23rd Mediterranean Conference on Control and Automation. Torremolinos, España.
    Doi: 10.1109/MED.2015.7158761
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