A multi-robot coordination methodology for autonomous search and rescue

Author

Macwan, Ashish ; Benhabib, Beno

Author_Institution

Dept. of Mech. & Ind. Eng., Univ. of Toronto, Toronto, ON, Canada

fYear

2009

fDate

26-27 Sept. 2009

Firstpage

675

Lastpage

680

Abstract

This paper proposes a comprehensive novel multi-robot coordination methodology for autonomous wilderness search and rescue. The focus is on the search for a mobile target by generating, updating, and propagating a target-location probability density function over time and space. The search algorithm accounts for terrain, clues found, and specific target psychology - it is illustrated herein through a computer simulated example scenario.

Keywords

mobile robots; motion estimation; multi-robot systems; path planning; probability; service robots; target tracking; autonomous rescue; autonomous wilderness search; comprehensive novel multirobot coordination methodology; mobile target; multirobot coordination methodology; search algorithm; target location probability density function; Computational modeling; Computer simulation; Diffusion processes; Humans; Industrial engineering; Probability density function; Psychology; Robot kinematics; Robot sensing systems; Robotics and automation; autonomous search and rescue; multi-robot coordination;

fLanguage

English

Publisher

ieee

Conference_Titel

Science and Technology for Humanity (TIC-STH), 2009 IEEE Toronto International Conference

Conference_Location

Toronto, ON

Print_ISBN

978-1-4244-3877-8

Electronic_ISBN

978-1-4244-3878-5

Type

conf

DOI

10.1109/TIC-STH.2009.5444413

Filename

5444413