Journal article 191 views 95 downloads
Design and testing of a universal platform for search and rescue operation: Exploring indoor and outdoor potentials
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Betsy Dayana Marcela Chaparro Rico ,
Xianghua Xie
Robotics and Autonomous Systems, Volume: 196, Start page: 105237
Swansea University Authors:
Daniele Cafolla , Betsy Dayana Marcela Chaparro Rico , Xianghua Xie
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DOI (Published version): 10.1016/j.robot.2025.105237
Abstract
Large-scale natural and human-caused disasters have created significant challenges for worldwide Search and Rescue (SAR) operations, highlighting persisting concerns related to the efficiency and technical limitations of existing technologies. To address these challenges, the proposed Universal Plat...
| Published in: | Robotics and Autonomous Systems |
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| ISSN: | 0921-8890 1872-793X |
| Published: |
Elsevier BV
2026
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| Online Access: |
Check full text
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa70746 |
| Abstract: |
Large-scale natural and human-caused disasters have created significant challenges for worldwide Search and Rescue (SAR) operations, highlighting persisting concerns related to the efficiency and technical limitations of existing technologies. To address these challenges, the proposed Universal Platform for Search and Rescue integrates various technologies, including a voice-guided control system, advanced 3D reconstruction techniques, and a people tracker and follower system. A central feature of our work is the platform’s universality: our system acts as an additional, modular controller that can connect to any robotic platform—commercial or custom—that supports text-based command communication via network or cable. The system does not replace original robot logic, but rather extends capabilities with minimal integration. Tests showed that the platform can effectively execute voice commands and track a specified route even in high-wind (23 km/h) and noisy environments (70–100 dB for the Drone, 65–99.6 dB for the Quadruped), providing a user-friendly and intuitive interaction for users across different skill levels. Performance metrics indicated strong quality in 3D scene reconstruction with significant similarity between the reconstructed images and reference images (Drone: indoor: 0.82 SSIM, outdoor: 0.81 SSIM; Quadruped: indoor: 0.79 SSIM, outdoor: 0.58 SSIM). Consequently, the immersive 3D mapping reconstruction facilitated prompt and precise terrain assessments for both internal and external operations. Furthermore, the integration of real-time video streaming and cloud-based connectivity optimized the data flow and strengthened communication during operations, allowing person face identification, 3D tracking, and following. |
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| Keywords: |
Search and rescue automation; Voice-guided control; Immersive 3D mapping; Adaptive multi-robot integration; Open-world robotics |
| College: |
Faculty of Science and Engineering |
| Funders: |
Swansea University |
| Start Page: |
105237 |