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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; in revised form: 15 June 2012 / Accepted: 20 June 2012 / Published: 27 June 2012
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.
Keywords: dynamic agent search; grid-based Bayesian filtering; search algorithm; multi-robot systems
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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.
Juliá M, Gil A, Reinoso O. Searching Dynamic Agents with a Team of Mobile Robots. Sensors. 2012; 12(7):8815-8831.
Juliá, Miguel; Gil, Arturo; Reinoso, Oscar. 2012. "Searching Dynamic Agents with a Team of Mobile Robots." Sensors 12, no. 7: 8815-8831.