TY - GEN
T1 - Rolling dispersion for robot teams
AU - Jensen, Elizabeth A.
AU - Gini, Maria L
PY - 2013
Y1 - 2013
N2 - Dispersing a team of robots into an unknown and dangerous environment, such as a collapsed building, can provide information about structural damage and locations of survivors and help rescuers plan their actions. We propose a rolling dispersion algorithm, which makes use of a small number of robots and achieves full exploration. The robots disperse as much as possible while maintaining communication, and then advance as a group, leaving behind beacons to mark explored areas and provide a path back to the entrance. The novelty of this algorithm comes from the manner in which the robots continue their exploration as a group after reaching the maximum dispersion possible while staying in contact with each other. We use simulation to show that the algorithm works in multiple environments and for varying numbers of robots.
AB - Dispersing a team of robots into an unknown and dangerous environment, such as a collapsed building, can provide information about structural damage and locations of survivors and help rescuers plan their actions. We propose a rolling dispersion algorithm, which makes use of a small number of robots and achieves full exploration. The robots disperse as much as possible while maintaining communication, and then advance as a group, leaving behind beacons to mark explored areas and provide a path back to the entrance. The novelty of this algorithm comes from the manner in which the robots continue their exploration as a group after reaching the maximum dispersion possible while staying in contact with each other. We use simulation to show that the algorithm works in multiple environments and for varying numbers of robots.
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M3 - Conference contribution
AN - SCOPUS:84896061547
SN - 9781577356332
T3 - IJCAI International Joint Conference on Artificial Intelligence
SP - 2473
EP - 2479
BT - IJCAI 2013 - Proceedings of the 23rd International Joint Conference on Artificial Intelligence
T2 - 23rd International Joint Conference on Artificial Intelligence, IJCAI 2013
Y2 - 3 August 2013 through 9 August 2013
ER -