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Computing and executing strategies for moving target search

Kolling, Andreas and Kleiner, Alexander and Sycara, Katia and Lewis, Michael (2011) Computing and executing strategies for moving target search. In: 2011 IEEE International Conference on Robotics and Automation, 09 May 2011 - 13 May 2011, Shanghai, CN.

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Abstract

We address the problem of searching for moving targets in large outdoor environments represented by height maps. To solve the problem we present a complete system that computes from an annotated height map a graph representation and search strategies based on worst-case assumptions about all targets. These strategies are then used to compute a schedule and task assignment for all agents. We improve the graph construction from previous work and for the first time present a method that computes a schedule to minimize the execution time. For this we consider travel times of agents determined by a path planner on the height map. We demonstrate the entire system in a real environment with an area of 700,000m2 in which eight human agents search for two intruders using mobile computing devices (iPads). To the best of our knowledge this is the first demonstration of a search system applied to such a large environment.

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Details

Item Type: Conference or Workshop Item (Paper)
Status: Published
Creators/Authors:
CreatorsEmailPitt UsernameORCID
Kolling, Andreas
Kleiner, Alexander
Sycara, Katia
Lewis, Michael
Date: May 2011
Date Type: Publication
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Place of Publication: New Jersey
Page Range: 4246 - 4253
Event Title: 2011 IEEE International Conference on Robotics and Automation
Event Dates: 09 May 2011 - 13 May 2011
Event Type: Conference
Institution: University of Pittsburgh
Schools and Programs: School of Information Sciences > Information Science
Refereed: Yes
Official URL: http://ieeexplore.ieee.org/
Related URLs:
Date Deposited: 22 Jun 2011 17:58
Last Modified: 01 Nov 2017 12:55
URI: http://d-scholarship.pitt.edu/id/eprint/5902

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