A Novel Search Strategy for Autonomous Search and Rescue Robots
In this work, a novel search strategy for autonomous search and rescue robots, that is highly suitable for the environments when the aid of human rescuers or search dogs is completely impossible, is proposed. The work area for a robot running this planning strategy can be small voids or possibly dangerous environments. The main goal of the proposed planning strategy is to find victims under very tight time constraints. The exploration strategy is designed to improve the success of the main goal of the robot using specialized sensors when available. The secondary goals of the strategy are avoiding obstacles for preventing further collapses, avoiding cycles in the search, and handling errors. The conducted experiments show that the proposed strategies are complete and promising for the main goal of a SR robot. The number of steps to find the reachable victims is considerably smaller than that of the greedy mapping method.
Unable to display preview. Download preview PDF.
- 1.Casper, J., Murphy, R.R.: Human-Robot Interactions During the Robot-Assisted Urban Search and Rescue Response at the World Trade Center. IEEE Transactions on Systems, Man an Cybernetics-Part B 33(3) (2003)Google Scholar
- 2.Davids, A.: Urban Search and Rescue robots: From Tragedy to Technology. IEEE Intelligent Systems 17(2), 81–83 (2002)Google Scholar
- 3.Kitano, et al.: RoboCup-Rescue: Search and Rescue in Large Scale Disasters as a Domain for Autonomous Agents Research. In: IEEE Conf. on Man, Systems, and Cybernetics (1999)Google Scholar
- 4.Koenig, S., et al.: Greedy Mapping of Terrain. In: Proc. of the International Conference on Robotics and Automation, pp. 3594–3599 (2001)Google Scholar
- 5.Murphy, R.R.: Introduction to AI Robotics. The MIT Press, England (2000)Google Scholar
- 8.Weiss, G.: Multi Agent Systems: A Modern Approach to Distributed Artificial Intelligence. The MIT Press, England (1999)Google Scholar