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

  • Amar NathEmail author
  • A. R. Arun
  • Rajdeep Niyogi
Regular Paper


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.


Urban search and rescue Multi-robot coordination Task allocation Distributed algorithm 



The third author was in part supported by a research grant from Google.

Compliance with ethical standards

Conflict of interests

The authors declare no potential conflicts of interest with respect to the research, authorship, and/or publication of this article.


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© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.Indian Institute of Technology RoorkeeRoorkeeIndia

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