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This research introduces a novel prioritization framework for quadruped robots in search-and-rescue operations by integrating rescue relevance directly into frontier exploration metrics. By balancing map expansion against the probability of victim recovery, the method significantly improves completion rates and recovery success in complex, cluttered environments compared to classical strategies. The study demonstrates that optimizing autonomous decision-making with specific utility constraints is critical for deploying legged robots effectively in unknown disaster scenarios.
Situation Aware Frontier Prioritization for Quadruped Search and Rescue
arXiv:2608.02571v1 Announce Type: new Abstract: Quadruped robots are a promising platform for search and rescue missions because they can navigate cluttered indoor environments that may be restrictive for wheeled systems. However, in unknown rescue scenarios, autonomous exploration must balance map expansion with the likelihood of finding victims, which is not explicitly addressed by clas- sical frontier selection strategies. This paper presents a situation aware frontier prioritization method for single robot quadruped search and rescue. The proposed approach preserves the frontier exploration framework, but extends frontier ranking with information gain, observation deficit, rescue relevance, terrain penalty, and travel cost. The method is eval- uated in Gazebo simulation with a quadruped robot in two indoor rescue scenarios with different levels of difficulty. The first scenario is used as a sanity check, while the second introduces stronger clutter and frontier ambiguity. Experimental results show that all methods perform reliably in a simple scenario, whereas in a complex scenario is different. In that setting, the proposed method achieves the highest completion rate and the highest victim recovery among the evaluated approaches. These results indicate that situation aware frontier prioritization is beneficial when frontier choice becomes nontrivial and rescue utility must be balanced against generic exploration objectives.
Abstract:Quadruped robots are a promising platform for search and rescue missions because they can navigate cluttered indoor environments that may be restrictive for wheeled systems. However, in unknown rescue scenarios, autonomous exploration must balance map expansion with the likelihood of finding victims, which is not explicitly addressed by clas- sical frontier selection strategies. This paper presents a situation aware frontier prioritization method for single robot quadruped search and rescue. The proposed approach preserves the frontier exploration framework, but extends frontier ranking with information gain, observation deficit, rescue relevance, terrain penalty, and travel cost. The method is eval- uated in Gazebo simulation with a quadruped robot in two indoor rescue scenarios with different levels of difficulty. The first scenario is used as a sanity check, while the second introduces stronger clutter and frontier ambiguity. Experimental results show that all methods perform reliably in a simple scenario, whereas in a complex scenario is different. In that setting, the proposed method achieves the highest completion rate and the highest victim recovery among the evaluated approaches. These results indicate that situation aware frontier prioritization is beneficial when frontier choice becomes nontrivial and rescue utility must be balanced against generic exploration objectives.
Robotics (cs.RO)
arXiv:2608.02571 [cs.RO]
(or arXiv:2608.02571v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2608.02571 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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