In recent years, death toll of natural and man-made disasters has increased at an appalling rate. Thus, disaster management and especially efficient management of humanitarian relief efforts seem to be essential. This paper presents a bi-objective mixed-integer mathematical model for Humanitarian Relief Logistics (HRL) operations planning, as an important part of the humanitarian relief efforts. This model determines optimal policies including location of warehouses, quantity of emergency relief items that should be held at each warehouse, and distribution plan to provide an emergency response pre-positioning strategy for disasters by considering two objectives. The first one minimizes the average response time and the second one minimizes the total operational cost including the fixed cost of establishing warehouses, the holding cost of unused supplies and the penalty cost of unsatisfied demand. The survival of pre-positioned supplies, demand amount and routes condition following an event are considered under uncertainty in the model solved by a robust scenario-based approach. The robust approach is applied to reduce the effects of fluctuations of the uncertain parameters with regards to all the possible future scenarios. The research demonstrates the applicability and usefulness of the proposed model on a case study on earthquake preparation in the Seattle area in USA. In addition, the work applies the Reservation Level Tchebycheff Procedure (RLTP) method to solve the bi-objective model in an interactive way with decision maker. This work provides practitioners, specifically planning teams, with a new approach to assist with disaster preparedness and to improve their logistics decisions.