Abstract
Sarin gas attack on the Tokyo subway (1995), rescue operation had a rough going because there was danger of secondary disaster by chemicals and radiations. Then, it was hoped to realize the system that reduced risk of rescue activities by remotely controlling mobile robot, and understanding the situation in building promptly. For such a background, the project of mobile RT system in the stricken building started and we also participate in it. To control a mobile robot remotely and speedy, the time delay on communication and indication is serious problem. Therefore, we propose the robust GUI to overcome the time delay by giving passing points on the large area map and the camera image combined with the priori-known map data.
