Githin John | IIT Kharagpur (original) (raw)
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Papers by Githin John
Systems, Man, and Cybernetics, Part C: …, Jan 1, 2004
Rescue robotics has been suggested by a recent DARPA/NSF study as an application domain for the r... more Rescue robotics has been suggested by a recent DARPA/NSF study as an application domain for the research in human-robot integration (HRI). This article provides a short tutorial on how robots are currently used in urban search and rescue (USAR) and discusses the HRI issues encountered over the past eight years. A domain theory of the search activity is formulated. The domain theory consists of two parts: (1) a workflow model identifying the major tasks, actions, and roles in robot-assisted search (e.g., a workflow model) and (2) a general information flow model of how data from the robot is fused by various team members into information and knowledge. The information flow model also captures the types of situation awareness needed by each agent in the rescue robot system. The article presents a synopsis of the major HRI issues in reducing the number of humans it takes to control a robot, maintaining performance with geographically distributed teams with intermittent communications, and encouraging acceptance within the existing social structure.
Experimental Robotics, Jan 1, 2008
Many large terrestrial structures-towers, bridges, construction scaffolds-are sparse assemblies o... more Many large terrestrial structures-towers, bridges, construction scaffolds-are sparse assemblies of rigid bars connected together at structural nodes. This is also true of many in-space structures such as antennae, solar panel supports, and space-station members. A long-term application of truss climbing robots is automated assembly, repair, and inspection of such truss-like structures: one or more climbing robots could grip the bars and locomote about the truss, conveying sensors, tools, or construction materials. The robot could then either carry out the desired task on its own or cooperate with a human .
Systems, Man, and Cybernetics, Part C: …, Jan 1, 2004
Rescue robotics has been suggested by a recent DARPA/NSF study as an application domain for the r... more Rescue robotics has been suggested by a recent DARPA/NSF study as an application domain for the research in human-robot integration (HRI). This article provides a short tutorial on how robots are currently used in urban search and rescue (USAR) and discusses the HRI issues encountered over the past eight years. A domain theory of the search activity is formulated. The domain theory consists of two parts: (1) a workflow model identifying the major tasks, actions, and roles in robot-assisted search (e.g., a workflow model) and (2) a general information flow model of how data from the robot is fused by various team members into information and knowledge. The information flow model also captures the types of situation awareness needed by each agent in the rescue robot system. The article presents a synopsis of the major HRI issues in reducing the number of humans it takes to control a robot, maintaining performance with geographically distributed teams with intermittent communications, and encouraging acceptance within the existing social structure.
Experimental Robotics, Jan 1, 2008
Many large terrestrial structures-towers, bridges, construction scaffolds-are sparse assemblies o... more Many large terrestrial structures-towers, bridges, construction scaffolds-are sparse assemblies of rigid bars connected together at structural nodes. This is also true of many in-space structures such as antennae, solar panel supports, and space-station members. A long-term application of truss climbing robots is automated assembly, repair, and inspection of such truss-like structures: one or more climbing robots could grip the bars and locomote about the truss, conveying sensors, tools, or construction materials. The robot could then either carry out the desired task on its own or cooperate with a human .