MANSFIELD, MASS. (WHDH) - A tense SWAT situation that drew a large police presence to a neighborhood in Mansfield overnight came to a peaceful resolution, police said.

Officers responding to an incident on Erick Road urged residents to avoid the area while the MetroLEC SWAT team was working.

At 3:21 a.m. on Monday, Mansfield police announced the incident ended peacefully.

In an update, Mansfield police said they were called to conduct a wellbeing check at a residence on Erick Road around 8:30 p.m. Sunday night. Once on scene, police said the person inside did not answer. Police said MetroLEC personnel were called around 10:30 p.m. to help with the situation.

“Out of an abundance of caution, neighboring housing units were evacuated and a ‘shelter in place’ emergency alert was broadcast,” police said.

The person, police said, later came to the front door and surrendered without incident after a motorized robot and drone was sent in to search the residence’s first floor.

Police said the person was taken to a local hospital. While there were no criminal charges in the case as of Monday afternoon, police said the incident remained under investigation.

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