Human-Robot Interaction Through Mixed-Initiative Planning for Rescue and Search Rovers

In this paper we present a mixed-initiative planning approach to humanrobot interaction in a rescue domain. We deploy a model-based executive monitoring system to coordinate the operator interventions and the concurrent activities of a rescue rover. We show that this approach can enhance both the operator situation awarness and human-robot interaction for the execution and control of the diverse activities needed in rescue missions. We implemented this control architecture on a robotic system (DORO) and tested it in rescue arenas comparing its performances in different settings.