Autonomous Exploration For Search And
Rescue Robots
Author(s)
D. Calisi, A. Farinelli, L. Iocchi & D. Nardi
Abstract
Search and rescue scenarios offer a wide variety of tasks where the
experimentation of mobile robots is possible. Specifically, we describe some of the
issues arising from scenarios where full autonomy of the robot is required. In this
paper after briefly describing our robot configuration and basic functionalities, we
address the exploration problem for a rescue robot and present a fully autonomous
strategy for this task.We explain algorithms and methods used for this process and
present typical experimental results.
1 Introduction
Robotic technology for search and rescue missions is a large section of robotics
and artificial intelligence research. This type of applications involves different
research areas, from mechanical design and sensors interpretation to perception,
decision making, mapping, path-planning and victim detection.
Rescue robots are designed to strictly cooperate with human rescue
operators assisting them during their missions. However, the reliability of the
communication between the robot and the rescue operator represents a crucial
factor in rescue missions. In many situations the robot should present some degree
of autonomy, in order to effectively act in the environment also in those situations
in which communication with human operators is either difficult or impossible.
Moreover, autonomous capabilities such as safe navigation, map building and
victim detection, can consistently help the human operators to control the robot.
Therefore, the motivation in providing a rescue robot with autonomous
capabilities stems from the possibility of realizing a more effective system for
use in rescue scenarios.
Our goal is to provide a rescue robot with basic autonomous capabilities in
mapping, exploration, and victim detection, aiming at realizing a simple but very
Keywords
Related Book
Other papers in this volume
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