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Sensors 2012, 12(7), 8815-8831; doi:10.3390/s120708815

Searching Dynamic Agents with a Team of Mobile Robots

Systems Engineering and Automation Department, Miguel Hernandez University of Elche, Avda. Universidad s/n. Edif. Quorum V, 03202 Elche, Alicante, Spain
Author to whom correspondence should be addressed.
Received: 9 May 2012 / Revised: 15 June 2012 / Accepted: 20 June 2012 / Published: 27 June 2012
(This article belongs to the Section Physical Sensors)
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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.
Keywords: dynamic agent search; grid-based Bayesian filtering; search algorithm; multi-robot systems dynamic agent search; grid-based Bayesian filtering; search algorithm; multi-robot systems
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Juliá, M.; Gil, A.; Reinoso, O. Searching Dynamic Agents with a Team of Mobile Robots. Sensors 2012, 12, 8815-8831.

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