A multi-robot control system for probabilistic search and rescue.

摘要

Search is an integral part of many robotic applications ranging from planetary exploration, examination of hazardous environments, rescue operations and warfare, to domestic applications. Robots provide a means to minimize human exposure to harmful situations while providing a mechanism to perform potentially life-saving operations. The use of robotic platforms in treacherous environments may in fact become a necessity in present day society. This research examines and develops a multi-robot control system that is adaptive, fault tolerant and scalable and serves as a computationally feasible dynamic solution to both search-and-rescue and pursuit-evasion problems. The research utilizes a probabilistic framework and considers various pursuit policies. The system framework is implemented as a distributed, hierarchical system architecture consisting of task-specific modules including: sensing, map building, coordination and policy planning, control, regulation and navigation, and communication. This architecture will emphasize the autonomy of each robot while allowing for coordinated team-level strategies.