Distributed Search and Rescue with Robot and Sensor Teams

We develop a network of distributed mobile sensor systems as a solution to the emergency response problem. The mobile sensors are inside a building and they form a connected ad-hoc network. We discuss cooperative localization algorithms for these nodes. The sensors collect temperature data and run a distributed algorithm to assemble a temperature gradient. The mobile nodes are controlled to navigate using this temperature gradient. We also discuss how such networks can assist human users to find an exit. We have conducted an experiment to at a facility used to train firefighters to understand the environment and to test component technology. Results from experiments at this facility as well as simulations are presented here. 1 Motivation We consider search and rescue applications in which heterogeneous groups of agents (humans, robots, static and mobile sensors) enter an unknown building and disperse while following gradients in temperature and concentration of toxins, and looking ...

• Type: Conference
• Year: 2003
• Where: FSR
• Authors: George Kantor, Sanjiv Singh, Ronald A. Peterson, Daniela Rus, Aveek K. Das, Vijay Kumar, Guilherme A. S. Pereira, John R. Spletzer
• Keywords: Ad-hoc Network, FSR 2003, Mobile Sensors, Sensor