Date of Original Version

6-2006

Type

Conference Proceeding

Abstract or Description

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.

Included in

Robotics Commons

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Published In

The 8th International Symposium on Distributed Autonomous Robotic Systems, 125-134.