Distributed Search and Rescue with Robot and Sensor Teams

George A. Kantor, Sanjiv Singh, R. Peterson, Daniela Rus, A. Das, V. Kumar, G. Pereira, and J. Spletzer
The 4th International Conference on Field and Service Robotics, July, 2003.


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Abstract
Abstract. We develop a network of distributed mobile sensor systems as a solution to the emergency response problem. The mobile sensors are inside a building and they form a connected ad-hoc network. We discuss cooperative localization algorithms for these nodes. The sensors collect temperature data and run a distributed algorithm to assemble a temperature gradient. The mobile nodes are controlled to navigate using this temperature gradient. We also discuss how such networks can assist human users to find an exit. We have conducted an experiment at a facility used to train firefighters in order to understand the environment and to test component technology. Results from experiments at this facility as well as simulations are presented here.

Notes
Associated Center(s) / Consortia: Field Robotics Center
Number of pages: 10

Text Reference
George A. Kantor, Sanjiv Singh, R. Peterson, Daniela Rus, A. Das, V. Kumar, G. Pereira, and J. Spletzer, "Distributed Search and Rescue with Robot and Sensor Teams," The 4th International Conference on Field and Service Robotics, July, 2003.

BibTeX Reference
@inproceedings{Kantor_2003_4915,
   author = "George A Kantor and Sanjiv Singh and R. Peterson and Daniela Rus and A. Das and V. Kumar and G. Pereira and J. Spletzer",
   title = "Distributed Search and Rescue with Robot and Sensor Teams",
   booktitle = "The 4th International Conference on Field and Service Robotics",
   month = "July",
   year = "2003",
}