Software Architecture for a Mobile Robot designed for Rescue Missions Support in Hazardous Environments

The rescue missions after incidents in hazardous industrial environments (chemical, explosive, ore mines) imposes a high risk for rescuers, while the incidents specifics are different from case to case. Once that the incident occurs, it is essential to determine what happened, what is the current situation and how the incident may develop in the immediate and near future. This understanding of the incident allows the rescue teams to plan and intervene for the rescue of affected persons. Nowadays, there are more and more demands for mobile platforms, teleoperated or even with autonomous functions, which to assist rescue teams in responses to those incidents, by gathering real time information about the incident causes and development, or by logistically assisting the rescue teams. This paper presents the software architecture for a mobile platform for detection of shock waves generated by explosions.