Online planning for collaborative search and rescue by heterogeneous robot teams

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Title: Online planning for collaborative search and rescue by heterogeneous robot teams
Author(s): Beck, Z
Teacy, WLT
Rogers, A
Jennings, NR
Item Type: Conference Paper
Abstract: Collaboration is essential for effective performance by groups of robots in disaster response settings. Here we are particularly interested in heterogeneous robots that collaborate in complex scenarios with incomplete, dynamically changing information. In detail, we consider a search and rescue setting, where robots with different capabilities work together to accomplish tasks (rescue) and find information about further tasks (search) at the same time. The state of the art for such collaboration is robot control based on independent planning for robots with different capabilities and typically incorporates uncertainty with only a limited scope. In contrast, in this paper, we create a joint plan to optimise all robots’ actions incorporating uncertainty about the future information gain of the robots. We evaluate our planner’s performance in settings based on real disasters and find that our approach decreases the response time by 20-25% compared to state-of-the-art approaches. In addition, practical constraints are met in terms of time and resource utilisation.
Publication Date: 31-Dec-2016
Date of Acceptance: 1-Apr-2016
URI: http://hdl.handle.net/10044/1/31907
Publisher: IFAAMAS
Start Page: 1024
End Page: 1032
Journal / Book Title: Proceedings of the 15th International Conference on Autonomous Agents and Multi-Agent Systems
Copyright Statement: © 2016, International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.
Conference Name: AAMAS 2016
Publication Status: Published
Start Date: 2016-05-09
Finish Date: 2016-05-13
Conference Place: Singapore
Appears in Collections:Faculty of Engineering



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