Requirements and Challenges for Autonomy and Assistance Functions for Ground Rescue Robots in Reconnaissance Missions.

While rescue robots are becoming more established as part of disaster response, they are typically teleoperated in actual disasters. (Autonomous) assistance functions can improve performance, extend functionality and reduce operator overload. It is necessary to understand relevant requirements to ensure that developed capabilities apply to real-world needs. Previous analyses focused on general aspects of rescue robots, leaving a gap in understanding requirements for (autonomous) assistance functions. We address this gap and provide a detailed, evidence-driven analysis of application requirements and research challenges for (autonomous) assistance functions for rescue robots in reconnaissance missions. We base our analysis on a comprehensive model for technology acceptance and consider reports of past deployments, related analyses, our own experience from deploying robots, and insights from workshops with first responders. We define relevant aspects of an integrated function capability and analyze general and specific requirements for assistance functions and autonomy. We relate our results with current assistance functions and identify several research challenges. A key insight is the need for an increased research focus on novel approaches combining the complementary capabilities of human operators and robotic assistance functions.