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Carnegie Mellon Robotics Institute

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Abstract

In urban search and rescue scenarios, human first responders risk their lives as they routinely encounter hazardous environments. A team of robots, equipped with various sensors, deployed in such an environment can be used to track emergency personnel such as firefighters, reducing the risk to human life. This paper explores techniques for tracking a mobile target and coordinating a team of robots, equipped with range-only sensors, through smoke-filled, high-temperature environments. The particular strengths of our tracking and cooperative control algorithms are identified through a set of simulated examples.

Notes

Associated Center(s) / Consortia: Field Robotics Center

Associated Project(s): EMBER

Number of pages: 10

Text Reference

Elizabeth Liao, Geoffrey Hollinger, Joseph Djugash, and Sanjiv Singh, "Preliminary Results in Tracking Mobile Targets Using Range Sensors from Multiple Robots," The 8th International Symposium on Distributed Autonomous Robotic Systems, June, 2006, pp. 125-134.

BibTeX Reference

@inproceedings{Liao_2006_5488,
   author = "Elizabeth Liao and Geoffrey Hollinger and Joseph Djugash and Sanjiv Singh",
   title = "Preliminary Results in Tracking Mobile Targets Using Range Sensors from Multiple Robots",
   booktitle = "The 8th International Symposium on Distributed Autonomous Robotic Systems",
   pages = "125-134",
   month = "June",
   year = "2006",
}

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