A human-centered approach to collaborative mobile robotics in emergency rescue

  • Ein menschenzentrischer Ansatz zur kollaborativen Mobilrobotik im Rettungswesen

Mandischer, Nils; Corves, Burkhard (Thesis advisor); Mikelsons, Lars (Thesis advisor)

Aachen : RWTH Aachen University (2023)

Dissertation, Rheinisch-Westfälische Technische Hochschule Aachen, 2023


Human-robot collaboration is yet to be included in emergency rescue. Important basics are missing, particularly, the ability of robots to traverse buildings in direct proximity of humans. This thesis concentrates on the indoor attack in firefighting, but develops a framework that is applicable to other areas of emergency rescue. The objective of the thesis is to develop an end-to-end approach that allows robots to perceive firefighters within their surroundings, predict future motion behavior, and generate robotic motion goals accordingly. Of utmost importance is that the integrity of the firefighters’ squad and the robot are preserved throughout the mission. Therefore, a safety rule book is crafted that generates intuitive and safe robot poses, likewise, which are based on the predicted motion behavior. The developments are tested profoundly in module, integration, and a final validation test.


  • Lehrstuhl und Institut für Getriebetechnik, Maschinendynamik und Robotik [411910]