RT Conference Proceedings
T1 Integrating ROS and Android for Rescuers in a Cloud Robotics Architecture: Application to a Casualty Evacuation Exercise
A1 Toscano-Moreno, Manuel
A1 Bravo-Arrabal, Juan
A1 Sánchez-Montero, Manuel
A1 Serón-Barba, Javier
A1 Vázquez-Martín, Ricardo
A1 Fernández-Lozano, Juan Jesús
A1 Mandow, Anthony
A1 García-Cerezo, Alfonso José
K1 Robótica
AB Cloud robotics and the Internet of robotic things (IoRT) can boost the performance of human-robot cooperativeteams in demanding environments (e.g., disaster response, mining, demolition, and nuclear sites) by allowing timely information sharing between agents on the field (both human and robotic) and the mission control center. In previous works, we defined an Edge/Cloud-based IoRT and communications architecture for heterogeneous multi-agent systems that wasapplied to search and rescue missions (SAR-IoCA). In this paper, we address the integration of a remote mission controlcenter, which performs path planning, teleoperation and mission supervision, into a ROS network. Furthermore, we present the UMA-ROS-Android app, which allows publishing smartphone sensor data, including audio and high definition images from the rear camera, and can be used by responders for requesting a robot to the control center from a geolocalizedfield position. The app works up to API 32 and has been shared for the ROS community. The paper offers a case studywhere the proposed framework was applied to a cooperative casualty evacuation mission with professional responders andan unmanned rover with two detachable stretchers in a highfidelity exercise performed in Malaga (Spain) in June 2022.
YR 2022
FD 2022
LK https://hdl.handle.net/10630/25672
UL https://hdl.handle.net/10630/25672
LA eng
NO @inproceedings{ToscanoMorenoSSRR2022,   title={Integrating {ROS} and {A}ndroid for Rescuers in a Cloud Robotics Architecture: Application to a Casualty Evacuation Exercise},   author={Toscano-Moreno, M. and Bravo-Arrabal, J. and S\'anchez-Montero, M. and {Ser\'on Barba}, J. and V\'azquez-Mart\'in, R. and Fern\'andez-Lozano, J.J. and Mandow, A. and Garc\'ia-Cerezo, A.},   booktitle={IEEE International Symposium on Safety, Security, and Rescue Robotics},   year={2022},   pages={1--7} }
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.This work has been partially funded by the Spanish Ministerio de Ciencia, Innovación y Universidades, Gobierno de España, projects RTI2018- 093421-B-I00 and PID2021-122944OB-I00.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 19 ene 2026