Abstract
In urban search and rescue domains, robots explore the affected terrain to search and assist disaster victims. RoboCup Rescue simulation provides a platform for disaster management where heterogeneous field agents (fire-brigade agent, ambulance agent, and police force agent) collaborate to manage a mimicked calamity situation. The role of police force agents is crucial, as they clear the blocked roads to allow other agents to perform their tasks. In this paper we suggest a distributed multi-robot coordination approach for clearing a road blocked with heavy obstacles. The proposed framework is implemented and simulated in ARGoS, a multi-robot simulator. The experimental results show the validity and satisfactory performance of the proposed approach.
Similar content being viewed by others
References
Abdallah, S., Lesser, V.: Organization-based cooperative coalition formation. In: International Conference on Intelligent Agent Technology, pp. 162–168, (2004)
Bérard, B., Bidoit, M., Finkel, A., Laroussinie, F., Petit, A., Petrucci, L., Schnoebelen, P.: Systems and Software Verification: Model-Checking Techniques and Tools. Springer Science & Business Media, Berlin (2013)
Burke, J.L., Murphy, R.R., Coovert, M.D., Riddle, D.L.: Moonlight in Miami: field study of human-robot interaction in the context of an urban search and rescue disaster response training exercise. Hum. Comput. Interac. 19(1–2), 85–116 (2004)
Casper, J., Murphy, R.R.: Human-robot interactions during the robot-assisted urban search and rescue response at the world trade center. IEEE Trans. Syst. Man Cybern. Part B (Cybern.) 33(3), 367–385 (2003)
Coviello, L., Franceschetti, M.: Distributed team formation in multi-agent systems: stability and approximation. In 51s. In: Annual Conference on Decision and Control (CDC), pp. 2755–2760, (2012)
Dukeman, A., Adams, J.A.: Hybrid mission planning with coalition formation. Auton. Agents Multi-Agent Syst. 31(6), 1424–1466 (2017)
Gerkey, B.P., Matarić, M.J.: A formal analysis and taxonomy of task allocation in multi-robot systems. Int. J. Robot. Res. 23(9), 939–954 (2004)
Gerkey, B.P., Mataric, M.J.: Sold!: auction methods for multi-robot coordination. IEEE Trans. Robot. Autom. 18(5), 758–768 (2002)
Gunn, T., Anderson, J.: Dynamic heterogeneous team formation for robotic urban search and rescue. J. Comput. Syst. Sci. 81(3), 553–567 (2015)
Kong, Y., Zhang, M., Ye, D.: An auction-based approach for group task allocation in an open network environment. Comput. J. 59(3), 403–422 (2015)
Liu, Y., Nejat, G.: Robotic urban search and rescue: a survey from the control perspective. J. Intell. Robot. Syst. 72(2), 147–165 (2013)
Lynch, N.A.: Distributed Algorithms. Elsevier, Amsterdam (1996)
Pinciroli, C., Trianni, V., O’Grady, R., Pini, G., Brutschy, A., Brambilla, M., Birattari, M.: ARGoS: a modular, parallel, multi-engine simulator for multi-robot systems. Swarm Intell. 6(4), 271–295 (2012)
Kitano, H.: RoboCup rescue: a grand challenge for multi-agent systems. In: ICCCN, pp. 1–8, (2000)
Saad, E., Hindriks, K.V., Neerincx, M.A.: Ontology design for task allocation and management in urban search and rescue missions. ICAART 2, 622–629 (2018)
Sato, N., Matsuno, F., Yamasaki, T., Kamegawa, T., Shiroma, N., Igarashi, H.: Cooperative task execution by a multiple robot team and its operators in search and rescue operations. IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS). 2, 1083–1088 (2004)
Sedaghat, M.N., Nejad, L.P., Iravanian, S., Rafiee, E.: Task allocation for the police force agents in robocuprescue simulation. In: Robot Soccer World Cup, pp. 656–664, (2005)
Tadokoro, S., Kitano, H., Takahashi, T., Noda, I., Matsubara, H., Shinjoh, A., Hatayama, M.: The robocup-rescue project: a robotic approach to the disaster mitigation problem.IEEE Int. Conf. Robot. Autom. (ICRA). 4, 4089–4094 (2000)
Toŝić, P.T., Agha, G.A.: Maximal clique based distributed coalition formation for task allocation in large-scale multi-agent systems. In Int. Workshop on Massively Multiagent Systems, pp. 104–120, (2004)
Uhrmacher, A. M., Weyns, D.: RoboCup Rescue: Challenges and Lessons Learned Tomoichi Takahashi. In: Multi-Agent Systems: Simulation and Applications, pp. 437–464, (2018)
Vig, L., Adams, J.A.: Multi-robot coalition formation. IEEE Trans. Robot. 22(4), 637–649 (2006)
Visser, A., Ito, N., Kleiner, A.: Robocup rescue simulation innovation strategy. In: Robot Soccer World Cup, pp. 661–672, (2014)
Xie, B., Chen, S., Chen, J., Shen, L.: A mutual-selecting market-based mechanism for dynamic coalition formation. Int. J. Adv. Robot. Syst. 15(1), 1–10 (2018)
Yan, Z., Jouandeau, N., Cherif, A.A.: A survey and analysis of multi-robot coordination. Int. J. Adv. Robot. Syst. 10(12), 399–416 (2013)
Acknowledgements
The third author was in part supported by a research grant from Google.
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interests
The authors declare no potential conflicts of interest with respect to the research, authorship, and/or publication of this article.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Nath, A., Arun, A.R. & Niyogi, R. A distributed approach for road clearance with multi-robot in urban search and rescue environment. Int J Intell Robot Appl 3, 392–406 (2019). https://doi.org/10.1007/s41315-019-00111-5
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s41315-019-00111-5