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UC04.2: Detailed indoor exploration (USAR)

Version 6.4 by Tjalling Haije on 2025/07/14 11:16

Objective
OB01: Increase effectiveness through exploration, sensing and communication means
OB04: Improve safety by providing overviews and warnings of environment conditions

Use a walking robot with an articulated inspection camera to scout ahead of first responders, detect hazards, and inspect hard-to-reach spaces for victims.

TDP
TDP2, TDP5, TDP7

IDP
IDP1, IDP3

Actors
Robot Operator, Team Leader, USAR Rescuers

Pre-Condition
Structure has inaccessible or dangerous zones; ANYMAL with SNAKE arm is operational.

Post-Condition
Hazards marked and/or victims detected; team proceeds with increased safety.

Action Sequence

  1. Deployment and Startup
     a. Team leader identifies inaccessible zone and requests robot.
     b. Operator performs checks and calibrates sensors and SNAKE arm.
     c. Robot is deployed at building entry or breach location.
  2. Navigation and Area Scan
        a. Robot operator starts ANYMAL in autonomous navigation mode, or manually controlled.
        b. Analyst next to operator monitors livestream and robot detections
        c. Detected hazards or victims are reported by the analyst next to the operator
  3. Detailed Look Upon Request
        a. On request of the analyst, the robot operator switches ANYMAL to manual mode.
        b. SNAKE arm inspects voids or small spaces.
        c. Robot operator switches ANYMAL back to autonomous navigation
  4. Situation Update and Handover
     a. Operator confirms findings and updates the map.
     b. Team is briefed based on robot data.
     c. Robot is either repositioned or retrieved.

Claims (title)FunctionEffect(s)Action Sequence Step(s)
CL1 Increased reach without riskRobot enters unsafe or blocked zonesEFXX: Exposure of responders is reduced
→ Measured with FR path logs or near-incident reports.		2a, 2b
CL2 Improved detection in small spacesSNAKE camera visual confirmationEFXX: Victim discovery rate increased
→ Measured with detection rate compared to manual entry.		2b, 2c
CL3 Safer responder routingHazard identification via robotEFXX: First responder safety increased
→ Measured with map updates and avoided hazards.		2c, 3a
CL4 Trustworthy situational assessmentOperator-validated visualsEFXX: Trust in robot findings increased
→ Measured with trust survey or follow-up interviews.		3a
CL5 More efficient room clearingRobot scouts ahead of teamEFXX: Operational speed improved
→ Measured with time-per-room or time-to-rescue metrics.		2a, 3c