Intelligent Coordination of Multi-Robots for Victim Search Operations

Date

2009-06-29

Author

Erkmen, Aydan Müşerref
Erkmen, İsmet

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Exploration of unknown environments with a team of robots is a fundamentally important problem in the area of victim search and rescue operations. Leading existing works on exploration is focusing upon the coverage of an entire environment with minimum amount of time. In this paper, we present a novel goal oriented and prioritized exploration approach for victim search in unknown environments. In our approach, if robots have additional information about possible locations of victims, they start prioritized exploration beginning from regions of the highest likelihood of finding victims. Stochastic Finite State Automaton is used to carry out decision about search direction while a genetic algorithm finds the optimum path for each robot to navigate safely in the environment. We evaluate our proposed method for different simulation scenarios.

URI

https://hdl.handle.net/11511/74854
https://www.academia.edu/20711961/Proceedings_of_INISTA_2009_International_Symposium_on_INnovations_in_Intelligent_SysTems_and_Applications

Conference Name

International Symposium on INnovations in Intelligent SysTems and Applications (June 29-July 1, 2009)

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

A. M. Erkmen and İ. Erkmen, “Intelligent Coordination of Multi-Robots for Victim Search Operations,” TRABZON, TURKEY, 2009, p. 409, Accessed: 00, 2021. [Online]. Available: https://hdl.handle.net/11511/74854.