HERO: A Cross-Domain Human-Enhanced Robot Orchestration Framework for Seamless Multi-Robot Emergency Handling

Especially in emergencies, disaster management and logistics domains share similar challenges for applying robot systems. These include dynamic and complex environments with large operational areas and unstable network conditions. Within these environments, diverse operators must effectively coordinate multiple robot and software systems that do not contain automated emergency procedures. This leads to a high complexity of emergency handling systems. The lack of a unified framework that addresses the above-mentioned challenges to minimize emergency handling system complexity increases safety risks and operation inefficiencies in both domains. So far, existing works on MRS frameworks only cover parts of the mentioned challenges and the key requirements posed to MRSs in disaster response, emphasizing the need for a new holistic framework. This paper proposes the cross-domain human-enhanced robot orchestration framework HERO. HERO leverages concepts and approaches from disaster management and logistics so that both domains can mutually benefit from each other's functionalities. We define three main components: (1) Application and Network Orchestration Module, (2) Human-Robot-Team Module, and (3) Emergency Handling Module, and demonstrate as well as evaluate the framework in exemplary use cases. We thereby show that HERO meets all requirements for MRS frameworks in disaster response and addresses the challenges of disaster management and logistics by solving emergency handling system complexity, improving operation efficiency, and mitigating safety hazards. Further, by emphasizing the parallels between the two domains, HERO shows how we can develop robust and versatile robotic systems applicable to disaster management and logistics operations, solving mutual challenges with one solution.