Autonomous chain network formation by multi-robot rescue system with ad hoc networking

The autonomous chain network formation by multi-robot rescue system is investigated. Chain networks connecting a base station and rescue robots are essential to reconnoiter distant spaces in disaster areas. The chains must be formed to assure communications among them and must be transformed if the target of exploration changes. These formations must be executed by autonomous movements of robots from reliable viewpoints in rescue operations. As the basis of their movements, we adopt autonomous classification of robots into search robots and relay robots. They act according to the behavior algorithms of each class of robot to form chain network threading the path to the distant spaces. The rule of the classification and the behavior algorithm refer forwarding table of each robot constructed for ad hoc networking. The results of simulations show that chain networks are formed and transformed by rescue robots appropriately for their reconnaissance to distant spaces even though three spaces exist beyond different corridors stemming from the safety zone where base station is established.