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Conference Papers Year : 2007

Coordinated Search in Cluttered Environments Using Range from Multiple Robots

Geoffrey Hollinger
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  • PersonId : 845168
Joseph Djugash
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  • PersonId : 845169
Sanjiv Singh
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  • PersonId : 845170

Abstract

In this paper, we describe real-time methods for incorporating non-line- of-sight range measurements into a framework for finding 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.
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Dates and versions

inria-00195214 , version 1 (10-12-2007)

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  • HAL Id : inria-00195214 , version 1

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Geoffrey Hollinger, Joseph Djugash, Sanjiv Singh. Coordinated Search in Cluttered Environments Using Range from Multiple Robots. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. ⟨inria-00195214⟩

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