World Modeling in Disaster Environments with Constructive Self-Organizing Maps for Autonomous Search and Rescue Robots

  • Çetin Meriçli
  • I. Osman Tufanoğulları
  • H. Levent Akın
Conference paper

DOI: 10.1007/978-3-540-32256-6_41

Volume 3276 of the book series Lecture Notes in Computer Science (LNCS)
Cite this paper as:
Meriçli Ç., Tufanoğulları I.O., Akın H.L. (2005) World Modeling in Disaster Environments with Constructive Self-Organizing Maps for Autonomous Search and Rescue Robots. In: Nardi D., Riedmiller M., Sammut C., Santos-Victor J. (eds) RoboCup 2004: Robot Soccer World Cup VIII. RoboCup 2004. Lecture Notes in Computer Science, vol 3276. Springer, Berlin, Heidelberg

Abstract

This paper proposes a novel approach for a Constructive Self-Organizing Map (SOM) based world modeling for search and rescue operations in disaster environments. In our approach, nodes of the self organizing network consist of victim and waypoint classes where victim denotes a human being waiting to be rescued and waypoint denotes a free space that can be reached from the entrance of debris. The proposed approach performed better than traditional self-organizing maps in terms of both the accuracy of the output and the learning speed. In this paper the detailed explanation of the approach and some experimental results are given.

Keywords

Search & Rescue Robotics Self-organizing Maps Mobile Robotics World Modeling 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Çetin Meriçli
    • 1
  • I. Osman Tufanoğulları
    • 1
  • H. Levent Akın
    • 1
  1. 1.Department of Computer EngineeringBoğaziçi UniversityBebek, IstanbulTurkey