Cooperative task excecution of a search and rescue mission by a multi-robot team

Shiroma, Naoji; Chiu, Yu-huan; Sato, Noritaka; Matsuno, Fumitoshi

doi:10.1163/1568553053583670

Cited by 27 publications

(14 citation statements)

References 3 publications

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“…In this case, the said agent is a robot. However, current technology in terms of robot intelligence and perception is still not at a level suitable for robots to perform with total independence for dynamic scenarios envisaged in USAR [9]. Firstly, the high uncertainty of the real world means that it is impossible for developers of autonomous mobile robotic systems to design for or even envision all possible scenarios that may or may not occur during a robot's deployment [11].…”

Section: A Robot Autonomy (And the Need For Human Supervision)mentioning

confidence: 99%

“…Firstly, the deployment of multiple robots means that missions can be completed more quickly as progress towards meeting mission objectives can be made via multiple fronts [9,20,21]. 2.…”

Section: B Multiple Robot Deploymentmentioning

confidence: 99%

“…Small robots can be used to examine voids that are too narrow or risky for humans and rescue dogs to enter [2]. Robots can also be applied to USAR such that appropriate standoff distances can be provided for rescue personnel from hazards in the mission environment [9].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Single-human multiple-robot systems for urban search and rescue: Justifications, design and testing

Wong

Seet

Sim

et al. 2010

2010 11th International Conference on Control Automation Robotics &Amp; Vision

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The evolution of interactions between humans and robots has reached a stage close to where multiple robots can be robustly deployed. The domain of Urban Search and Rescue stands to benefit from such a capability. However, even autonomous robots must be supervised by humans. Yet, reasons such as economy, efficiency, added reliability as well as improving overall group capability and addressing payload constraints, make multiple robot deployment (MRD) an appealing possibility. Single-Human Multiple Robot Systems facilitate MRD while ensuring the supervision of robots deployed. However, the design of the single-human multiple-robot system requires consideration of key design attributes such as collective size, composition and structure as well as of the MRD issues of communication costs, computational costs, cognitive workload and situation awareness. The experiments to determine the effects of the key design attributes on the issues of MRD have been designed and are described in this paper as well.

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Section: A Robot Autonomy (And the Need For Human Supervision)mentioning

confidence: 99%

“…Firstly, the deployment of multiple robots means that missions can be completed more quickly as progress towards meeting mission objectives can be made via multiple fronts [9,20,21]. 2.…”

Section: B Multiple Robot Deploymentmentioning

confidence: 99%

See 1 more Smart Citation

Single-human multiple-robot systems for urban search and rescue: Justifications, design and testing

Wong

Seet

Sim

et al. 2010

2010 11th International Conference on Control Automation Robotics &Amp; Vision

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show abstract

“…To supply these properties, humans can make use of wireless communication to deliver instructions to the robot while receiving data from it. Wireless communication also allows the supervision of robots from an appropriate standoff distance such that rescuers deploying the robot are safely separated from the hazards of the mission environment [19].…”

Section: Introductionmentioning

confidence: 99%

A framework for area coverage and the visual search for victims in USAR with a mobile robot

Wong

Seet

Sim

et al. 2010

2010 IEEE Conference on Sustainable Utilization and Development in Engineering and Technology

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Mobile robots can serve to augment the capabilities of rescuers for urban search and rescue (USAR) situations but must be supervised by humans. As such, the envisioned application for this research is to deploy a human supervised mobile robot to perform the search aspect of a USAR mission. This paper presents a framework developed to imbue a mobile robot with the intelligence to perform the searcb task under the guidance of a human supervisor. The framework enables the robot to perform area coverage as well as to search of victims visually using computer vision.Preliminary experiments to test the framework are also described. We find that the framework is suitable for implementation on a mobile robot for its envisioned purpose.

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“…In recent years, especially after the 9/11 attack, many countries began to develop various anti-explosive/antiterrorism robots as well as search and rescue robots for disaster protection and relief in ralation to their national security strategies. As they possess great potential applications, search and rescue robots have attracted widespread attention and many have been developed, such as Souryu [3], Moira [1], KOHGA [4], Helios VII [5], Bujold [6], TALON [7], mobile HRR urban search and rescue robot [8], iRobot Packbot and a SPAWAR Urbot [2], Foster-Miller Talon [2], telemAX [2], ROBHAZ-DT3 [9], a snake-like robot [10], etc. [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

AMOEBA-I: A Shape-Shifting Modular Robot for Urban Search and Rescue

Liu

et al. 2009

Advanced Robotics

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This work intends to enhance the mobility and flexibility of a tracked mobile robot through changing its shape in unstructured environments. A shape-shifting mobile robot, AMOEBA-I, has been developed. With three tracked modules, AMOEBA-I has nine locomotion configurations and three of them are symmetrical configurations. The key advantage of this design over other mobile robots is its adaptability and flexibility because of its various configurations. It can change its configuration fluently and automatically to adapt to different environments or missions. A modularized structure of the control system is proposed and designed for AMOEBA-I to improve the fault tolerance and substitutability of the system. The strategies of cooperative control, including cooperative shape shifting, cooperative turning and cooperative obstacle negotiation, have been proposed to improve the capability of shape shifting, locomotion and obstacle negotiation for AMOEBA-I. A series of experiments have been carried out, and demonstrated that such a structure possesses excellent mobility and high flexibility under various urban environments including stairs, a narrow space, an obstacle, uneven debris and an underground garage. Being small, portable, and remotely controlled, AMOEBA-I has potential applications in areas such as urban search and rescue and environment reconnaissance.

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Cooperative task excecution of a search and rescue mission by a multi-robot team

Cited by 27 publications

References 3 publications

Single-human multiple-robot systems for urban search and rescue: Justifications, design and testing

Single-human multiple-robot systems for urban search and rescue: Justifications, design and testing

A framework for area coverage and the visual search for victims in USAR with a mobile robot

AMOEBA-I: A Shape-Shifting Modular Robot for Urban Search and Rescue

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