A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
A prototype infrastructure for distributed robot-agent-person teams
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
Distributed Coordination in Heterogeneous Multi-Robot Systems
Autonomous Robots
Using multiagent teams to improve the training of incident commanders
AAMAS '06 Proceedings of the fifth international joint conference on Autonomous agents and multiagent systems
Bridging the Gap Between Simulation and Reality in Urban Search and Rescue
RoboCup 2006: Robot Soccer World Cup X
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In this paper we study different coordination strategies for a group of robots involved in a search and rescue task. The system integrates all the necessary components to realise the basic behaviours of robotic platforms. Coordination is based on iterative dynamic task assignment. Tasks are interesting points to reach, and the coordination algorithm finds at each time step the optimal assignment of robots to tasks. We realised both a completely autonomous exploration strategy and a strategy that involves a human operator. The human operator is able to control the robots at different levels: giving priority points for exploration to the team of robots, giving navigation goal points to team of robots, and directly tele-operating a single robot. For building a consistent global map, we implemented a centralised coordinated SLAM approach that integrates readings from all robots. The system has been tested both in the UsarSim simulation environment and on robotic platforms.