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The 2021 Champlain Towers South Condominiums collapse in Surfside, Florida,resulted 98 deaths. Nine people are thought to have survived the initialcollapse, and might have been rescued if rescue workers could have locatedthem. Perhaps, if rescue workers had been able to use robots to search theinterior of the rubble pile, outcomes might have been better. An improvedunderstanding of the environment in which a robot would have to operate to beable to search the interior of a rubble pile would help roboticists developbetter suited robotic platforms and control strategies. To this end, this workoffers an approach to characterize and visualize the interior of a rubble pileand conduct a preliminary analysis of the occurrence of voids. Specifically,the analysis makes opportunistic use of four days of aerial imagery gatheredfrom responders at Surfside to create a 3D volumetric aggregated model of thecollapse in order to identify and characterize void spaces in the interior ofthe rubble. The preliminary results confirm expectations of small number andscale of these interior voids. The results can inform better selection andcontrol of existing robots for disaster response, aid in determining the designspecifications (specifically scale and form factor), and improve control offuture robotic platforms developed for search operations in rubble.

Analysis of Interior Rubble Void Spaces at Champlain Towers South Collapse