Abstract:
Autonomous robots can be used to perform reconnaissance missions in disaster scenarios when the safety of humans cannot be guaranteed. We developed an interdisciplinary a...Show MoreMetadata
Abstract:
Autonomous robots can be used to perform reconnaissance missions in disaster scenarios when the safety of humans cannot be guaranteed. We developed an interdisciplinary approach to autonomous team-based exploration in such settings. The introduced system architecture consists of robust communication and reactive task allocation, built upon a research robot platform. A team of robots autonomously executes exploration tasks deploying a long-term sensor network. All robots and sensors are linked through the so-called distributed common information model (dCIM), which is the global knowledge base of our system. It enables the robots to share a unified environment model and to perform dynamic task scheduling. All key softand hardware elements presented in this paper have been prototypically implemented and tested.
Date of Conference: 27-30 October 2014
Date Added to IEEE Xplore: 22 January 2015
Electronic ISBN:978-1-4799-4199-5
Print ISSN: 2374-3247