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

Searching Dynamic Agents with a Team of Mobile Robots

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Received: 9 May 2012; in revised form: 15 June 2012 / Accepted: 20 June 2012 / Published: 27 June 2012
(This article belongs to the Section Physical Sensors)
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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 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 which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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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.

AMA Style

Juliá M, Gil A, Reinoso O. Searching Dynamic Agents with a Team of Mobile Robots. Sensors. 2012; 12(7):8815-8831.

Chicago/Turabian Style

Juliá, Miguel; Gil, Arturo; Reinoso, Oscar. 2012. "Searching Dynamic Agents with a Team of Mobile Robots." Sensors 12, no. 7: 8815-8831.



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