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Towards an understanding of the impact of autonomous path planning on victim search in USAR

Scerri, P and Velagapudi, P and Sycara, K and Wang, H and Chien, SYJ and Lewis, M (2010) Towards an understanding of the impact of autonomous path planning on victim search in USAR. In: UNSPECIFIED.

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Technology for multirobot systems has advanced to the point where we can consider their use in a variety of important domains, including urban search and rescue. A key to the practical usefulness of multirobot systems is the ability to have a large number of robots effectively controlled by small numbers of operators. In this paper, two modalities for controlling a team of 24 robots in a foraging task in an urban search and rescue environment are compared. In both modalities, multiple operators must monitor video streams from the robots to detect and mark victims on a map as well as teleoperating robots that cannot get themselves out of difficult situations. In the first modality, the operators must also provide waypoints for the robots to explore, using both video and a partially completed map to choose appropriate waypoints. In the second modality, the robots autonomously plan their paths, allowing operators to focus on monitoring the video, but without being able to interpret video streams to guide exploration. Experimental results show that significantly better overall performance is achieved with autonomous path planning, although the reduction in operator workload is not significant. ©2010 IEEE.


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Item Type: Conference or Workshop Item (UNSPECIFIED)
Status: Published
CreatorsEmailPitt UsernameORCID
Scerri, P
Velagapudi, P
Sycara, K
Wang, H
Chien, SYJ
Lewis, M
Date: 1 December 2010
Date Type: Publication
Journal or Publication Title: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Page Range: 383 - 388
Event Type: Conference
DOI or Unique Handle: 10.1109/iros.2010.5650545
Institution: University of Pittsburgh
Refereed: Yes
ISBN: 9781424466757
Date Deposited: 28 Jun 2011 13:45
Last Modified: 02 Feb 2019 16:58


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