Searching dynamic agents with a team of mobile robots.
Sensors (Basel)
; 12(7): 8815-31, 2012.
Article
en En
| MEDLINE
| ID: mdl-23012519
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.
Texto completo:
1
Colección:
01-internacional
Banco de datos:
MEDLINE
Idioma:
En
Revista:
Sensors (Basel)
Año:
2012
Tipo del documento:
Article
País de afiliación:
España