Skip to Main content Skip to Navigation
Conference papers

Coordinated Search in Cluttered Environments Using Range from Multiple Robots

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.
Document type :
Conference papers
Complete list of metadata

Cited literature [11 references]  Display  Hide  Download

https://hal.inria.fr/inria-00195214
Contributor : Inria Rhône-Alpes Documentation <>
Submitted on : Monday, December 10, 2007 - 11:24:12 AM
Last modification on : Tuesday, December 11, 2007 - 12:51:19 PM
Long-term archiving on: : Thursday, September 27, 2012 - 11:00:51 AM

File

fsr_34.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00195214, version 1

Collections

Citation

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⟩

Share

Metrics

Record views

146

Files downloads

297