A distributed approach for road clearance with multi-robot in urban search and rescue environment

被引：0
作者：
Amar Nath
A. R. Arun
Rajdeep Niyogi
机构：
[1] Indian Institute of Technology Roorkee,
来源：
International Journal of Intelligent Robotics and Applications | 2019年 / 3卷
关键词：
Urban search and rescue; Multi-robot coordination; Task allocation; Distributed algorithm;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In urban search and rescue domains, robots explore the affected terrain to search and assist disaster victims. RoboCup Rescue simulation provides a platform for disaster management where heterogeneous field agents (fire-brigade agent, ambulance agent, and police force agent) collaborate to manage a mimicked calamity situation. The role of police force agents is crucial, as they clear the blocked roads to allow other agents to perform their tasks. In this paper we suggest a distributed multi-robot coordination approach for clearing a road blocked with heavy obstacles. The proposed framework is implemented and simulated in ARGoS, a multi-robot simulator. The experimental results show the validity and satisfactory performance of the proposed approach.
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页码：392 / 406
页数：14
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