Multi-robot searching with sparse binary cues and limited space perception
In this paper, we consider the problem of searching for a source that releases particles in a turbulent medium with searchers having binary sensors and limited space perception.To this aim, we extend an information-theoric strategy to multiple searchers and demonstrate its efficiency both in simulat...
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Frontiers Media S.A.
2015-05-01
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Online Access: | http://journal.frontiersin.org/Journal/10.3389/frobt.2015.00012/full |
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doaj-6e76e25eea034ff8b54aa39f63abcd552020-11-24T22:26:53ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442015-05-01210.3389/frobt.2015.00012133978Multi-robot searching with sparse binary cues and limited space perceptionSiqi eZhang0Siqi eZhang1Dominique eMartinez2Jean-Baptiste eMasson3Jean-Baptiste eMasson4Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), CNRS UMR 7503School of Marine Science and Technology, Northwestern Polytechnical UniversityLaboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), CNRS UMR 7503Institut PasteurCentre National de la Recherche ScientifiqueIn this paper, we consider the problem of searching for a source that releases particles in a turbulent medium with searchers having binary sensors and limited space perception.To this aim, we extend an information-theoric strategy to multiple searchers and demonstrate its efficiency both in simulation and robotic experiments. The search time is found to decay as $1/n$ for $n$ cooperative robots as compared to $1/sqrt{n}$ for independent robots so that significant gains in the search time are obtained with a small number of robots, {it e.g.} $n=3$. Search efficiency results from pooling sensory information between robots to improve individual decision-making (three detections on average per searcher were sufficient to reach the source). The methods is robust to odometry errors and is thus relevant to robots searching in low visibility conditions, {it e.g.} firefighter robots exploring smoky environments.http://journal.frontiersin.org/Journal/10.3389/frobt.2015.00012/fullMulti-Robot Systemsswarm roboticsSearch and rescueFire searchingfirefighter robot |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Siqi eZhang Siqi eZhang Dominique eMartinez Jean-Baptiste eMasson Jean-Baptiste eMasson |
spellingShingle |
Siqi eZhang Siqi eZhang Dominique eMartinez Jean-Baptiste eMasson Jean-Baptiste eMasson Multi-robot searching with sparse binary cues and limited space perception Frontiers in Robotics and AI Multi-Robot Systems swarm robotics Search and rescue Fire searching firefighter robot |
author_facet |
Siqi eZhang Siqi eZhang Dominique eMartinez Jean-Baptiste eMasson Jean-Baptiste eMasson |
author_sort |
Siqi eZhang |
title |
Multi-robot searching with sparse binary cues and limited space perception |
title_short |
Multi-robot searching with sparse binary cues and limited space perception |
title_full |
Multi-robot searching with sparse binary cues and limited space perception |
title_fullStr |
Multi-robot searching with sparse binary cues and limited space perception |
title_full_unstemmed |
Multi-robot searching with sparse binary cues and limited space perception |
title_sort |
multi-robot searching with sparse binary cues and limited space perception |
publisher |
Frontiers Media S.A. |
series |
Frontiers in Robotics and AI |
issn |
2296-9144 |
publishDate |
2015-05-01 |
description |
In this paper, we consider the problem of searching for a source that releases particles in a turbulent medium with searchers having binary sensors and limited space perception.To this aim, we extend an information-theoric strategy to multiple searchers and demonstrate its efficiency both in simulation and robotic experiments. The search time is found to decay as $1/n$ for $n$ cooperative robots as compared to $1/sqrt{n}$ for independent robots so that significant gains in the search time are obtained with a small number of robots, {it e.g.} $n=3$. Search efficiency results from pooling sensory information between robots to improve individual decision-making (three detections on average per searcher were sufficient to reach the source). The methods is robust to odometry errors and is thus relevant to robots searching in low visibility conditions, {it e.g.} firefighter robots exploring smoky environments. |
topic |
Multi-Robot Systems swarm robotics Search and rescue Fire searching firefighter robot |
url |
http://journal.frontiersin.org/Journal/10.3389/frobt.2015.00012/full |
work_keys_str_mv |
AT siqiezhang multirobotsearchingwithsparsebinarycuesandlimitedspaceperception AT siqiezhang multirobotsearchingwithsparsebinarycuesandlimitedspaceperception AT dominiqueemartinez multirobotsearchingwithsparsebinarycuesandlimitedspaceperception AT jeanbaptisteemasson multirobotsearchingwithsparsebinarycuesandlimitedspaceperception AT jeanbaptisteemasson multirobotsearchingwithsparsebinarycuesandlimitedspaceperception |
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