Skip to Content
Last modified by Tjalling Haije on 2026/05/04 14:17
Hide last authors
Tjalling Haije 8.1 1 |=**Objective**|=[[OB01: Increase effectiveness through exploration, sensing and communication means>>path:#]]
Tjalling Haije 6.1 2 [[OB04: Improve safety by providing overviews and warnings of environment conditions>>path:#]]
Rosa Van Tuijn 10.3 3 |=Description|=(((
4 Enable safe, data‑driven interior reconnaissance and victim triage **before** human entry, with continuous **FR health/location monitoring** informing decisions, rotations, and evacuation.
5 )))
Tjalling Haije 27.15 6 |**TDP**|[[TDP2 — Robots First, Then Humans Protocol>>2\. Specification.Requirements.TDP2 — Robots First, Then Humans Protocol.WebHome]] [[TDP4 — Split Role for Robot Control and Data Analysis>>2\. Specification.Requirements.TDP4 — Split Role for Robot Control and Data Analysis.WebHome]]
7 |**IDP**|[[IDP1 — Role-Based, Context-Specific Information Distribution>>2\. Specification.Requirements.IDP1 — Role-Based, Context-Specific Information Distribution.WebHome]]
Tjalling Haije 30.1 8 |**Actors**|Team leader, Robot operator, Analyst, Safety officer (at HQ), Structural Expert (FR), Entry Team (FRs) (described at [[4. Personas & Problem Scenarios>>path:/bin/view/Main/sdf/4.%20Scenarios%20%26%20Personas/]] and [[Direct Stakeholders>>path:/bin/view/Main/sdf/Stakeholders/Direct/]])
Rosa Van Tuijn 10.3 9 |**Pre-Condition**|(((
Tjalling Haije 30.1 10 * Structural integrity of building and whether **human entry is safe is unknown;** sector/ worksite allocated. Viable entrance identified.
Tjalling Haije 27.6 11 * **ANYmal **is mission-ready (battery, controls, and payload checked).
Rosa Van Tuijn 10.3 12 * **FRs wearables** distributed, connected, and calibrated.
Tjalling Haije 27.6 13 * **C3I is online**, role-based views are configurated (Operator/ Analyst/ Team leader/ Safety officer); **5G pods** are installed for connection.
Rosa Van Tuijn 10.3 14 )))
Rosa Van Tuijn 10.4 15 |**Post-Condition**|(((
16 * Health alerts handled; intervention performed if needed.
17 )))
Tjalling Haije 8.1 18 |**Status**|Hazards marked and/or victims detected; team proceeds with increased safety.
Mark Rinse van Koningsveld 1.1 19
20 === **Action Sequence** ===
21
Mark Rinse van Koningsveld 27.1 22 ===== 1. Deployment and Startup =====
Mark Rinse van Koningsveld 1.1 23
Rosa Van Tuijn 29.1 24 * a. **Squad leader** labels the target building as **robot exploration needed **(no human entry until internal reconnaissance is completed and reviewed).
25 * b. **Robot operator** stages ANYmal at the safest entry point (door/window/breach) while the **robot operator** opens the robot control and the analyst opens the image analysis.
26 * c. **First responders** check and calibrate wearable sensors (health + localization); the squad leader confirms **team baseline status** are “green/ready” on the squad dashboard; **base of operations** sees the same status across all teams.
27 * d. **Comms/network check**: verify stable uplink for robot video/LiDAR + wearable streams between worksite and base of operations; confirm fallback mode (degraded bandwidth / store-and-forward markers).
Mark Rinse van Koningsveld 1.1 28
Rosa Van Tuijn 29.1 29 ===== 2. Indoor Exploration with robot =====
Mark Rinse van Koningsveld 17.1 30
Rosa Van Tuijn 29.1 31 * (((
32 ===== a. **ANYmal **enters via the safest viable opening; **robot operator** tele-operates for tight passages, stairs, and unstable thresholds. =====
33 )))
34 * (((
Tjalling Haije 30.1 35 ===== b. **ANYmal **produces a live **3D map (LiDAR)** + video (and thermal if available); the **information analyst** interprets map + feeds for hazards, access constraints, and points of interest. **Structural expert **inspects structural integrity via camera stream. =====
Rosa Van Tuijn 29.1 36 )))
37 * (((
38 ===== c. Feeds stream into **C3I**: analyst places structured markers (e.g., **blocked corridors, collapse risk, gas/smoke pockets, heat zones, viable routes, possible victims**) and flags confidence/uncertainty. =====
39 )))
Mark Rinse van Koningsveld 17.1 40
Rosa Van Tuijn 29.1 41 ===== 3. Squad leader decisionmaking =====
Mark Rinse van Koningsveld 17.1 42
Rosa Van Tuijn 29.1 43 * (((
44 ===== a. **Squad leader** reviews the updated interior picture on a tablet (route options + hazards + task-relevant markers) and **actively questions** the analyst/operator to resolve uncertainties (“Can we confirm that corridor is passable?”, “What’s the  safest approach to that room?”). =====
45 )))
46 * (((
47 ===== b. Squad leader selects an **entry decision** (go / no-go / partial entry) and makes decisions regarding: entry team composition, route, objectives, time limits, and abort criteria. The location its labels are logged in C3I via standard forms and  visible to base of operations. =====
48 )))
49 * (((
50 ===== c. **Base of operations** views the squad’s status in the context of **other teams** (parallel buildings/sectors) and may re-task assets (e.g., allocate another drone/robot, redirect a medical team, delay entry) based on overall operational priorities. =====
51 )))
Mark Rinse van Koningsveld 17.1 52
Tjalling Haije 31.1 53 ===== 4. Human Entry and victim extraction with Health + Location Tracking =====
54
55 * (((
56 ===== a. First responders enter along the squad leader’s chosen route; wearables are used for **continuous tracking** (location + vitals) and display their status and location on squad leader dashboard. =====
57 )))
58 * (((
59 =====  b. Squad leader uses the live map + responder locations to **direct movement** if needed (e.g., reroute around a newly identified hazard, assign room-clearing sequence, keep separation distances, enforce time-on-task). =====
60 )))
61 * (((
62 ===== c. **First responders **navigate to and extract the victims in the order discussed prior to entry. =====
63 )))
64
Rosa Van Tuijn 29.1 65 ===== 5. Remote Monitoring, Alerts, and Coordinated Escalation =====
66
67 * (((
68 ===== a. **Base of operations** monitors the squads active in the operation; squad leader monitors his own team at higher level detail (individual vitals + track quality + last-known positions). =====
69 )))
70 * (((
71 ===== b. If a responder crosses a threshold (e.g., heart rate spike, heat stress indicator, immobility, rapid elevation change, loss of signal), an **alert** is generated simultaneously: **Squad leader** receives a **critical on-dashboard alert** tied to the responder’s last-known location + nearby hazards/egress routes. **Base of operations** receives the same alert in the multi-team view (for cross-team support decisions). =====
72 )))
73 * (((
74 ===== c. **Escalation policy (two-level response)**: 1) **Squad leader action**: immediate check-in (voice), buddy-check instruction, micro-reroute to nearest safe point / exit, or pause task. 2) **Base of operations action**: dispatch medical support / reallocate teams / request additional sensing (robot reposition, drone overwatch), and initiate comms contingency if signal degradation persists. =====
75 )))
76 * (((
77 ===== d. If readings normalize, event is closed with a short note; if abnormal readings persist, the squad leader executes abort criteria (partial withdrawal / full extraction) while base coordinates site-level support and deconfliction with other teams. =====
78 )))
79
Tjalling Haije 27.12 80 (% class="box warningmessage" %)
81 (((
82 Table below need to be updated
83 )))
84
Tjalling Haije 27.17 85 |=(% style="width: 189px;" %)Claims (title)|=(% style="width: 357px;" %)Function|=Effect(s)|=Measure|=Action Sequence Step(s)
Tjalling Haije 27.24 86 |(% style="width:189px" %)CL01 Improve safety for responders|(% style="width:357px" %)Robot explores building first, including unsafe, (human) unreachable, or blocked zones first|EFXX: Improves safety of responder by having robot explore unsafe or blocked zones instead, such that first responder can avoid these [[TDP2>>2\. Specification.Requirements.TDP2 — Robots First, Then Humans Protocol.WebHome]], [[TDP4>>2\. Specification.Requirements.TDP4 — Split Role for Robot Control and Data Analysis.WebHome]]|(((
Tjalling Haije 27.23 87 - Near-incident reports.
88 - FR time inside.
89 - FR path logs.
90 )))|2a
Tjalling Haije 27.24 91 |(% rowspan="2" style="width:189px" %)CL02 Increased SA|(% rowspan="2" style="width:357px" %)Analyst interprets robot camera streams etc. and locates hazards, victims, etc.|(((
Tjalling Haije 27.23 92 EFXX: First responder team has increased situation awareness on hazards, layout, and potential victim locations of the mission site before entry. [[TDP2>>2\. Specification.Requirements.TDP2 — Robots First, Then Humans Protocol.WebHome]]
Tjalling Haije 30.1 93 )))|- Correctness of FR reported hazards, victims, and layout before entry. |3
Tjalling Haije 27.23 94 |EFXX: Squad leader has more effective decision making due to improved situation awareness. [[TDP2>>2\. Specification.Requirements.TDP2 — Robots First, Then Humans Protocol.WebHome]], [[TDP4>>2\. Specification.Requirements.TDP4 — Split Role for Robot Control and Data Analysis.WebHome]]|- Safe path chosen
95 - "How good were your decisions looking back?"|3a, 3b, 3c
Tjalling Haije 27.24 96 |(% style="width:189px" %)CL03 improved mission effectiveness|(% style="width:357px" %)Analyst monitors and corrects any missed or incorrect detections.|EFXX: Victims are localized and extracted and hazards are avoided without missing or misclassifying any. [[TDP4>>2\. Specification.Requirements.TDP4 — Split Role for Robot Control and Data Analysis.WebHome]]|- Correctness of FR reported hazards, victims, and layout after mission completion.|2
97 |(% rowspan="2" style="width:189px" %)CL04 acceptable workload |(% style="width:357px" %)Pilot and analyst split tasks.|EFXX: workload of robot operator and analyst is acceptable. [[TDP4>>2\. Specification.Requirements.TDP4 — Split Role for Robot Control and Data Analysis.WebHome]]|- Self-reported workload questionnaire. (e,g, NASA TLX)|2
Tjalling Haije 27.23 98 |(% style="width:357px" %)Role-based, context-specific C3I dashboard with FR location and health information.|EFXX: squad leader and BoO can find and interpret relevant FR health and location information quickly, making their workload acceptable. [[IDP1>>2\. Specification.Requirements.IDP1 — Role-Based, Context-Specific Information Distribution.WebHome]]|- Self-reported workload questionnaire. (e,g, NASA TLX)|5
Tjalling Haije 27.24 99 |(% style="width:189px" %)CL05 Trustworthy SA|(% style="width:357px" %)Analyst-validated visuals|EFXX: Trust in robot findings increased by analyst confirmation. [[TDP4>>2\. Specification.Requirements.TDP4 — Split Role for Robot Control and Data Analysis.WebHome]]|- Trust survey or follow-up interviews.|4a
100 |(% style="width:189px" %)CL06 Improved FR health|(% style="width:357px" %)FR location and health information is monitored and acted on when necessary|(((
Tjalling Haije 27.21 101 EFXX: squad leader and BoO can act on health and location status of first responders to keep them healthy. [[IDP1>>2\. Specification.Requirements.IDP1 — Role-Based, Context-Specific Information Distribution.WebHome]]
Tjalling Haije 27.23 102 )))|(((
103 - Health indicators of FR stay in acceptable range
Tjalling Haije 27.12 104
Tjalling Haije 27.23 105 - Health issues are tackled in an acceptable time
106 )))|5
Tjalling Haije 27.24 107 |(% style="width:189px" %)CL07 Degraded mission efficiency|(% style="width:357px" %)Robot scouts ahead of team, which is slower than team going in directly.|EFXX: Operational speed degraded. |- Mission completion time|All
Tjalling Haije 27.12 108
109
Tjalling Haije 27.23 110
Tjalling Haije 27.10 111 == Open questions on technology capabilities ==
Tjalling Haije 14.1 112
Tjalling Haije 27.10 113 1. Anymal:
114 11. What sensors does the Anymal have? LiDAR, day-light camera, depth-camera, thermal camera, microphones, speakers, GPS?
115 11. How many of these sensors are available to the operator/analyst?
116 11. Is the operator UI connected with C3I?
117 11. Can the operator share information via the operator UI connected to C3I to the command center? If so, in what form? Photo with image and text? A short video? A livestream? Live location of the robot? 
118 11. Can the operator place a marker on the C3I map with a detection (e.g. hazard or victim)? Can information be attached to that marker? Can that marker be confirmed / prioritized / further specified with constraints (e.g. access constraints)?
119 11. Can the robot do object detection for finding victims? If so, how are results presented to the operator/analyst?
120 1. C3I:
121 11. What information can be logged in C3I on the teamleaders tablet? Can suggested routes and no-go zones also be specified?
122
123 == Open questions on user needs ==
124
125 1. HQ
126 11. At what level of detail do they require Situation Awareness? Does this differ per situation?
Tjalling Haije 27.11 127 11. Does HQ communicate always via the teamlead, or also directly with the robot operator/analyst? As in, does the squad leader "confirm" new markers etc in C3I before they become visible to HQ?
Tjalling Haije 27.10 128 11. In what way does HQ want to maintain SA? Markers on C3I map with text description, with image and description, only image with category, multiple images, short video, livestream, live 3D map, live thermal camera stream, audio recordings.
129 11. Does HQ need to know where the teammembers AND robots are currently?
130 11. What are the tasks of HQ?
131 11. How many teams typically are coordinated by HQ?
Tjalling Haije 27.11 132 11. How much time does HQ have available for maintaining SA and communicating with the squad leader etc on this part of the mission?
133 1. Squad leader
134 11. At what level of detail does the squad leader require Situation Awareness? Which info do they need? Does this differ per situation?
135 11. In what way does squad leader want to maintain SA? Should they have enough info from inspecting the C3I map, do they require talking with the analyst, or do they require looking along to inspect the robot sensors?
136 11. Does the squad leader need to know where the teammembers AND robots are currently?What other tasks does the teamlead have? How much time do they have available for maintaining SA on the mission / talking with the analyst / talking with HQ / making plans, etc.
137 11. How many teams does the squad leader have? Are they always close to the operator/analyst (shouting distance), or not?
138 11. How do the analyst and squad leader communicate? Via talking in person, or via radio?
139 11. What are the needs of the squad leader, given their tasks?
Tjalling Haije 27.10 140 1. Operator/Analyst
141 11. What tasks does the Analyst have: analysing the robot sensor streams, instructing operator for where to go, updating the teamlead, updating the C3I interface, other tasks?
142 11. How does the Analyst communicate with others, via speech in person, via radio, via C3I?
143 11. What are the needs of the Analyst, given their tasks?
144 11. What are the tasks of the operator? Manage robot condition (battery, connectivity, damage)?
145 11. What are the needs from the operator, given their tasks?