Coordinated Search in Cluttered Environments Using Range from Multiple Robots

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

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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.

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},
year = {2007},
month = {July},
} 2017-09-13T10:42:06-04:00