Coordinated Search in Cluttered Environments Using Range from Multiple Robots

Geoffrey Hollinger, Joseph Djugash, and Sanjiv Singh
Sixth International Conference on Field and Service Robotics, July, 2007.


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Abstract
In this paper, we describe real-time methods for incorporating non-line- of-sight range measurements into a framework for ?ding a non-adversarial target in cluttered environments using multiple robotic searchers. We extend previous co- ordinated search strategies to utilize information from noisy non-line-of-sight range measurements. Sensors using ultra-wideband radio are becoming available that pro- vide range measurements to targets even when they are occluded. We present two Bayesian methods for updating the expected location of a mobile target and in- tegrating these updates into planning. We present simulated results in a complex museum environment as well as on mobile robots. Our results show the success of our algorithms at utilizing information from measurements in a coordinated search framework.

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

Text Reference
Geoffrey Hollinger, Joseph Djugash, and Sanjiv Singh, "Coordinated Search in Cluttered Environments Using Range from Multiple Robots," Sixth International Conference on Field and Service Robotics, July, 2007.

BibTeX Reference
@inproceedings{Hollinger_2007_5876,
   author = "Geoffrey Hollinger and Joseph Djugash and Sanjiv Singh",
   title = "Coordinated Search in Cluttered Environments Using Range from Multiple Robots",
   booktitle = "Sixth International Conference on Field and Service Robotics",
   month = "July",
   year = "2007",
}