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Performance-aware exploration algorithm for search and rescue robots

Saeedi, P; Hailes, S; Sorensen, SA; (2009) Performance-aware exploration algorithm for search and rescue robots. In: 2009 IEEE International Workshop on Safety, Security & Rescue Robotics (SSRR). IEEE Computer Society: Piscataway, US.

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Abstract

Autonomous navigation in unknown cluttered environments is one of the main challenges for search and rescue robots inside collapsed buildings. Evaluation and comparison of exploration algorithms inside various simulated search fields is crucial to attain fast victim localisation. Thus in this paper we discuss an algorithmic development and proliferation of realistic after--disaster test fields. Furthermore we evaluate a performance--aware exploration algorithm inside the developed search fields. We ascertain that it is possible to reduce the overall victim discovery time significantly, relative to an unstructured search algorithm across environments of a range of complexities. Moreover, it is possible to achieve performance that approaches to our optimal victim discovery time.

Type:Proceedings paper
Title:Performance-aware exploration algorithm for search and rescue robots
DOI:10.1109/SSRR.2009.5424168
Publisher version:http://dx.doi.org/10.1109/SSRR.2009.5424168
UCL classification:UCL > School of BEAMS > Faculty of Engineering Science > Computer Science

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