Abstract
This paper presents a new algorithm that allows a team of robots to cooperatively search for a set of moving targets. An estimation of the areas of the environment that are more likely to hold a target agent is obtained using a grid-based Bayesian filter. The robot sensor readings and the maximum speed of the moving targets are used in order to update the grid. This representation is used in a search algorithm that commands the robots to those areas that are more likely to present target agents. This algorithm splits the environment in a tree of connected regions using dynamic programming. This tree is used in order to decide the destination for each robot in a coordinated manner. The algorithm has been successfully tested in known and unknown environments showing the validity of the approach.
Highlights
This paper investigates the search problem in which a team of agents collectively try to find another set of moving agents
Since the agents of the Evader Team are in motion, the problem is not reduced to a simple exploration problem as it would be if they were static
We focus in this paper on the dynamic agents search problem, which is the particular case of the pursuit and evasion problem in which the evaders are not intelligent and their movements do not try to avoid the pursuers
Summary
This paper investigates the search problem in which a team of agents (the searchers) collectively try to find another set of moving agents (dynamic targets). Since the agents of the Evader Team are in motion, the problem is not reduced to a simple exploration problem as it would be if they were static In this case, the pursuers should make a fast coverage of the environment trying to find all the evaders. That is, provided that there are enough pursuers, an optimal path can be found for each pursuer in order to cover all the search area without letting any opportunities for the evaders to escape. This kind of algorithms fail in the case there are not enough pursuers for a given scenario. In this sense, when not enough searchers are provided more general approaches are necessary
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
