@InProceedings{Zuzanek-MESAS-2014,
  UPDATE  = { 2015-01-16 },
  IS = { zkontrolovano 16 Jan 2015 },
  author =      {Zuz{\' a}nek, Petr and Zimmermann, Karel and  Hlav{\' a}{\v c}, V{\' a}clav},
  affiliation = {13133-13133-13133},
  authorship =  {34-33-33},
  title =       {Accepted Autonomy for Search and Rescue Robotics},
  year =        {2014},
  pages =       {231-240},
  booktitle =   {Modelling and Simulation for Autonomous Systems},
  editor =      {Hodicky, Jan},
  publisher =   {Springer},
  address =     {Cham, Switzerland},
  isbn =        {978-3-319-13822-0},
  volume =      {1},
  series =      {Lecture Notes in Computer Science},
  number =      {8906},
  book_pages =  {388},
  month =       {May},
  day =         {5-6},
  venue =       {Rome, Italy},
  organization ={NATO Modelling and Simulation Centre of Excellence},
  annote =      {Since exploration of unknown disaster areas during
                  Search and Rescue missions is often dangerous,
                  teleoperated robotic platforms are usually used as a
                  suitable replacement for a human rescuer. Advanced
                  robotic platforms have usually many degrees of
                  freedom to be controlled, e.g. speed, azimuth,
                  camera view or articulated sub- tracks
                  angles. Manual control of all available degrees of
                  freedom often leads to unwanted cognitive overload
                  of the operator whose attention should be mainly
                  focused on reaching the mission goals. On the other
                  hand, there are fully autonomous systems requiring
                  minimal attention but allowing almost no interaction
                  which is usually not acceptable for the
                  operator. Operator-accepted level of autonomy is
                  usually a trade-off between fully teleoperated and
                  completely autonomous robots.  The main contribution
                  of our paper is extensive survey on accepted
                  autonomy solutions for Search and Rescue robots with
                  special focus on traversing unstructured terrain,
                  however brief summary of our system is also
                  provided.  Since, integral part of any Search and
                  Rescue robot is the ability to traverse a complex
                  terrain, we describe a system for teleoperated
                  skid-steer robot with articulated sub-tracks
                  (flippers), in which the operator controls robot
                  speed and azimuth, while flipper posture and
                  stiffness are controlled autonomously. The system
                  for autonomous flipper control is trained from
                  semi-autonomously collected training samples to
                  maximize the platform stability and motion
                  smoothness on challenging obstacles.},
  keywords =    {Urban Search and Rescue, Mobile Robotics, Traversability},
  project =     {FP7-ICT-609763 TRADR, SGS13/142/OHK3/2T/13, TACR TE01020197},
  doi =         {10.1007/978-3-319-13823-7},
}