MULTI-ROBOT DEPLOYMENT FOR WILDERNESS SEARCH AND RESCUE

被引：11

作者：

Macwan, Ashish ^{[1
]}

Vilela, Julio ^{[1
]}

Nejat, Goldie ^{[2
]}

Benhabib, Beno ^{[1
]}

机构：

[1] Univ Toronto, Dept Mech & Ind Engn, Toronto, ON, Canada

[2] Univ Toronto, Dept Mech & Ind Engn, Autonomous Syst & Biomechatron Lab, Toronto, ON, Canada

来源：

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2016年 / 31卷 / 01期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Wilderness search and rescue; multi-robot coordination; autonomous deployment; EXPLORATION; STRATEGIES; ROBOTS;

D O I：

10.2316/Journal.206.2016.1.206-4366

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an effective methodology for the optimal deployment of multi-robot teams for autonomous wilderness search and rescue. The proposed methodology is based on the unique concept of iso-probability curves. These curves define the probabilistic boundaries of multiple possible regions, where the target is likely to be present at any given time. The deployment strategy determines the optimal set of iso-curves, as well as the distribution of robots on these curves. Deployment is invoked repeatedly as the search progresses.

引用

页码：45 / 51

页数：7

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