Rolling Dispersion for Robot Teams
Proceedings of the Twenty-Third International Joint Conference on Artificial Intelligence. Pages 2473-2478.
Abstract
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.
@inproceedings{ijcai2013p364,
title = {Rolling Dispersion for Robot Teams},
author = {Jensen, Elizabeth A. and Gini, Maria L.},
booktitle = {Proceedings of the Twenty-Third International Joint Conference on
Artificial Intelligence, {IJCAI-13}},
publisher = {AAAI Press / International Joint Conferences on Artificial Intelligence},
editor = {Francesca Rossi},
pages = {2473--2478},
year = {2013},
month = {8},
url = {https://ijcai.org/proceedings/2013/364},
}
TY - CPAPER TI - Rolling Dispersion for Robot Teams AU - Jensen, Elizabeth A. AU - Gini, Maria L. T2 - Proceedings of the Twenty-Third International Joint Conference on Artificial Intelligence, IJCAI-13 PB - AAAI Press / International Joint Conferences on Artificial Intelligence PY - 2013 SP - 2473 EP - 2478 UR - https://ijcai.org/proceedings/2013/364 ER -Copied
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