A distributed approach for road clearance with multi-robot in urban search and rescue environment
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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.
KeywordsUrban search and rescue Multi-robot coordination Task allocation Distributed algorithm
The third author was in part supported by a research grant from Google.
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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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