Frontier-based exploration using multiple robots
AGENTS '98 Proceedings of the second international conference on Autonomous agents
Recent Developments in Cooperative Control and Optimization (Cooperative Systems, "3)
Recent Developments in Cooperative Control and Optimization (Cooperative Systems, "3)
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
Coordinated multi-robot exploration
IEEE Transactions on Robotics
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This paper presents a technique for dynamically determining search spaces in order to enable sensor exploration during autonomous search and tracking (SAT) missions. In particular, marine search and rescue scenarios are considered, highlighting the need for exploration during SAT. A comprehensive method which is independent of search space representation is introduced, based on exploration frontiers and reachable set analysis. The advantage of the technique is that recursive Bayesian estimation can be performed indefinitely, without loss of information. Numerical results involving multiple search vehicles and multiple targets demonstrate the efficacy of the approach for coordinated SAT. These examples also highlight the added benefit for human mission planners resulting from the technique's simplification of the search space allocation task.