Searching Dynamic Agents with a Team of Mobile Robots
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 sp...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2012-06-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/12/7/8815 |
| _version_ | 1818473937566171136 |
|---|---|
| author | Miguel Juliá Arturo Gil Oscar Reinoso |
| author_facet | Miguel Juliá Arturo Gil Oscar Reinoso |
| author_sort | Miguel Juliá |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-14T04:29:31Z |
| format | Article |
| id | doaj.art-6dc947413c6343168aaec1907334a607 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T04:29:31Z |
| publishDate | 2012-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-6dc947413c6343168aaec1907334a6072022-12-22T02:12:07ZengMDPI AGSensors1424-82202012-06-011278815883110.3390/s120708815Searching Dynamic Agents with a Team of Mobile RobotsMiguel JuliáArturo GilOscar ReinosoThis 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.http://www.mdpi.com/1424-8220/12/7/8815dynamic agent searchgrid-based Bayesian filteringsearch algorithmmulti-robot systems |
| spellingShingle | Miguel Juliá Arturo Gil Oscar Reinoso Searching Dynamic Agents with a Team of Mobile Robots Sensors dynamic agent search grid-based Bayesian filtering search algorithm multi-robot systems |
| title | Searching Dynamic Agents with a Team of Mobile Robots |
| title_full | Searching Dynamic Agents with a Team of Mobile Robots |
| title_fullStr | Searching Dynamic Agents with a Team of Mobile Robots |
| title_full_unstemmed | Searching Dynamic Agents with a Team of Mobile Robots |
| title_short | Searching Dynamic Agents with a Team of Mobile Robots |
| title_sort | searching dynamic agents with a team of mobile robots |
| topic | dynamic agent search grid-based Bayesian filtering search algorithm multi-robot systems |
| url | http://www.mdpi.com/1424-8220/12/7/8815 |
| work_keys_str_mv | AT migueljulia searchingdynamicagentswithateamofmobilerobots AT arturogil searchingdynamicagentswithateamofmobilerobots AT oscarreinoso searchingdynamicagentswithateamofmobilerobots |