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An initial evaluation of approaches to building entry for large robot teams

Scerri, P and Ma, Z and Chien, SY and Wang, H and Lee, PJ and Lewis, M and Sycara, K (2011) An initial evaluation of approaches to building entry for large robot teams. Journal of Intelligent and Robotic Systems: Theory and Applications, 64 (2). 145 - 159. ISSN 0921-0296

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Abstract

Teams of robots offer potential reductions in risk for rescuers and improved rescue rates for search and rescue in collapsed buildings and other restricted environments. However, one aspect of deployment of such teams that is often overlooked is the initial entry of the robots into the building. If many robots enter the building from the same entrance, they are likely to interfere with each other and dramatically slow the initial phase of exploration. In this paper, we use a low fidelity simulation to evaluate several approaches to overcoming this initial congestion and identify heuristics that might allow the robots to most quickly clear the entry area and begin their actual mission. Our results show that unless the exits to the initial entry area are small, over a wide range of parameters, the most effective technique was for every robot to move in the direction of the longest open space it senses. © Springer Science+Business Media B.V. 2011.


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Details

Item Type: Article
Status: Published
Creators/Authors:
CreatorsEmailPitt UsernameORCID
Scerri, P
Ma, Z
Chien, SY
Wang, H
Lee, PJ
Lewis, M
Sycara, K
Date: 1 November 2011
Date Type: Publication
Journal or Publication Title: Journal of Intelligent and Robotic Systems: Theory and Applications
Volume: 64
Number: 2
Page Range: 145 - 159
DOI or Unique Handle: 10.1007/s10846-010-9529-1
Schools and Programs: School of Information Sciences > Information Science
Refereed: Yes
ISSN: 0921-0296
Related URLs:
Date Deposited: 15 Jun 2012 19:23
Last Modified: 02 Feb 2019 16:58
URI: http://d-scholarship.pitt.edu/id/eprint/12394

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