Summary
In urban search and rescue scenarios, human first responders risk their lives as they routinely encounter hazardous environments. A team of robots, equipped with various sensors, deployed in such an environment can be used to track emergency personnel such as firefighters, reducing the risk to human life. This paper explores techniques for tracking a mobile target and coordinating a team of robots, equipped with range-only sensors, through smoke-filled, high-temperature environments. The particular strengths of our tracking and cooperative control algorithms are identified through a set of simulated examples.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
P. Dana. Global Positioning System Overview, The Geographer’s Craft Project, Department of Geography, The University of Colorado at Boulder, http://www.colorado.edu/geography/gcraft/notes/gps/gps.html.
J. Djugash, S. Singh, and G. Kantor. Range-only slam for robots operating cooperatively with sensor networks. In Proceedings, IEEE International Conference on Robotics and Automation, 2006.
R. Fierro, P. Song, A. Das, and V. Kumar. Cooperative Control and Optimization, volume 66, chapter Cooperative control of robot formations, pages 73–93. Kluwer Academic Press, 2002.
B. Gerkey, R. Vaughan, and A. Howard. The Player/Stage project: Tools for multi-robot and distributed sensor systems. In Proceedings of the International Conference on Advanced Robotics (ICAR 2003), Coimbra, Portugal, June 30–July 3, 2003, pages 317–323, 2003.
B. Gerkey, R. Vaughan, A. Howard, and N. Koenig. The Player/Stage Project, http://playerstage.sourceforge.net/.
A. Howard, L. Parker, and G. Sukatme. Experiments with a large heterogeneous mobile robot team. Intl. Journal of Robotics Research., 2005.
G. Kantor and S. Singh. Preliminary results in range-only localization and mapping. In Proc. of IEEE Conf. on Robotics and Automation., 2002.
A. Kelly. Precision dilution in triangulation based mobile robot position estimation. In Intelligent Autonomous Systems, 2003.
V Kumar, D. Rus, and S. Singh. Robot and sensor networks for first responders. Pervasive Computing, pages 24–33, 2004.
S. M. LaValle. Planning Algorithms. Cambridge University Press (also available at http://msl.cs.uiuc.edu/planning/). To be published in 2006.
E. Liao. Cooperative control of a multi-robot team in a firefighting scenario. Technical Report CMU-RI-TR-05-50, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, in progress.
L. Liao, D. Fox, J. Hightower, H. Kautz, and D. Schulz. Voronoi tracking: Location estimation using sparse and noisy sensor data. In Proc. Intl. Conf. on Intelligent Robots and Systems, 2003.
D. Naffin and G. Sukhatme. Negotiated formations. In Proceedings of the Eighth Conference on Intelligent Autonomous Systems, pages 181–190, 2004.
S Min Oh, S. Tariq, S. Walker, and F. Dellaert. Map-based priors for localization. In Proc. Intl. Conf. on Intelligent Robots and Systems., 2004.
R. Saber, W. Dunbar, and R. Murray. Cooperative control of multi-vehicle systems using cost graphs and optimization. In Proc of the American Control Conference, June 2003., 2003.
A. Stroupe. Collaborative Execution of Exploration and Tracking Using Move Value Estimation for Robot Teams (MVERT). PhD thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, September 2003.
I. Ulrich and J. Borenstein. VFH+: Reliable obstacle avoidance for fast mobile robots. In Proceedings of the 1998 IEEE International Conference on Robotics and Automation., pages 1572–1577, 1998.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Tokyo
About this paper
Cite this paper
Liao, E., Hollinger, G., Djugash, J., Singh, S. (2006). Preliminary Results in Tracking Mobile Targets Using Range Sensors from Multiple Robots. In: Gini, M., Voyles, R. (eds) Distributed Autonomous Robotic Systems 7. Springer, Tokyo. https://doi.org/10.1007/4-431-35881-1_13
Download citation
DOI: https://doi.org/10.1007/4-431-35881-1_13
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-35878-7
Online ISBN: 978-4-431-35881-7
eBook Packages: EngineeringEngineering (R0)