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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.
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Submitted on : Monday, December 10, 2007 - 11:24:12 AM
Last modification on : Tuesday, December 11, 2007 - 12:51:19 PM
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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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