Service interruption on Monday 11 July from 12:30 to 13:00: all the sites of the CCSD (HAL, Epiciences, SciencesConf, AureHAL) will be inaccessible (network hardware connection).
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
Contributor : Inria Rhône-Alpes Documentation Connect in order to contact the contributor
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


Files produced by the author(s)


  • HAL Id : inria-00195214, version 1



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⟩



Record views


Files downloads