Communication-Restricted Exploration for Search Teams

Elizabeth A. Jensen, London Lowmanstone, Maria Gini

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

Exploring an unknown environment comes with risks and complications, and in some cases an environment may be too dangerous for humans to explore, but immediate exploration is critical, as in the aftermath of an earthquake. Robots, however, can be deployed to seek out points of interest and report back to the waiting human operators. One aspect of a disaster scenario is that communication is often more limited than we are accustomed to in everyday life, so these robots cannot rely on having constant contact with the outside world, or even with all other robots in the environment. In this paper, we present two algorithms for a small team of robots to explore an unknown environment, and use both simulation and experiments with physical robots to demonstrate the algorithms’ performance. We provide proofs of correctness and guarantee full coverage of the environment, even with attrition.

Original languageEnglish (US)
Title of host publicationSpringer Proceedings in Advanced Robotics
PublisherSpringer Science and Business Media B.V.
Pages17-30
Number of pages14
DOIs
StatePublished - 2018

Publication series

NameSpringer Proceedings in Advanced Robotics
Volume6
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264

Bibliographical note

Publisher Copyright:
© 2018, Springer International Publishing AG.

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