Cooperating unmanned vehicles

Scheidt, David; Stipes, J.A.

doi:10.1109/icnsc.2005.1461210

Cited by 22 publications

(13 citation statements)

References 8 publications

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“…Most papers dealing with search naturally address uncertainty in the target's position when developing navigation strategies [1,[5][6][10][11][12][13][14]. Many of these papers employ Bayesian principles to update target location probabilities.…”

Section: Introductionmentioning

confidence: 99%

“…Researchers are devoting significant attention to the study of small, autonomous unmanned aerial vehicles (UAVs) working cooperatively to accomplish an objective [1][2][3][4][5][6][7][8][9]. Technology miniaturization, lower cost, fewer required personnel, smaller support needs (fuel, space needed for taxi, takeoff, and landing), and robustness to failure make teams of small UAV attractive in many applications.…”

Section: Introductionmentioning

confidence: 99%

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Addressing uncertainty in UAV navigation decision-making

Shem

Mazzuchi

Sarkani

2008

IEEE Trans. Aerosp. Electron. Syst.

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We present an analytic framework for modeling and measuring uncertainty for the scenario of unmanned aerial vehicles (UAVs) cooperatively searching for a moving target. Uncertainty exists in a UAVsassessment of teammate locations, target locations, and sensor results. As is frequently done, our framework employs probabilistic maps to represent uncertain information regarding the UAVs environment. We present new methods to update the probabilistic maps when information arrives from onboard sensors or teammate UAVs. When new information is missing or delayed, we propose a novel and straightforward diffusion approach to update probabilistic maps. The UAVs make navigation decisions based on response to potential fields generated by the probabilistic maps. Since map data have uncertainty, this leads to decision-making in uncertainty. We conclude by describing how uncertainty in the environment translates into a unique measure, velocity vector dispersion (D V ), which describes the uncertainty in the UAVs navigation decision. Thresholds related to D V may be useful to guide real-time decision policies. We present simulation results that show how the use of diffusion affects the time to locate targets. We also describe how D V varies during UAV flight and comment on its utility.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Addressing uncertainty in UAV navigation decision-making

Shem

Mazzuchi

Sarkani

2008

IEEE Trans. Aerosp. Electron. Syst.

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“…Methods based on stimergy fields for cooperation have been recently employed in the context of robotic exploration [13], [14], [15]. They rely on a mechanism of indirect communication among the agents which allows their actions to be influenced by a trace left previously in the environment by the robot.…”

Section: Introductionmentioning

confidence: 99%

Integration of virtual pheromones for mapping/exploration of environments by using multiple robots

Oliveira

Calvo

Romero

2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

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Abstract-The multiple robot coordination strategies have several advantages when compared to strategies based on a single robot, in terms of flexibility, gain of information and reduction of map building time. In this paper, a local pheromone map integration method is proposed based on the inter-robot observations, considering a method for the environment exploration named the Inverse Ant System-Based Surveillance System strategy (IAS-SS). Simulation results show that the map integration method is efficient, the trials are performed considering a variable number of robots in an indoor environment. Results obtained from several experiments confirm that the integration process is effective and suitable to execute the control of the access to pheromones in a virtual way.

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“…Several researchers have suggested stigmergy methods [7] and [8]. Stigmergy is a mechanism of spontaneous, indirect coordination between agents or actions, where a trace left in the environment by an action stimulates the performance of subsequent actions, by the same or by different agents.…”

Section: Introductionmentioning

confidence: 99%

Multi-robot exploration and fire searching

Marjovi

Nunes

Marques

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Exploration of an unknown environment is a fundamental concern in mobile robotics. This paper presents an approach for cooperative multi-robot exploration, fire searching and mapping in an unknown environment. The proposed approach aims to minimize the overall exploration time, making it possible to localize fire sources in an efficient way. In order to achieve this goal, the robots should cooperate in an effective way, so they can individually and simultaneously explore different areas of the environment while they identify fire sources. The proposed approach employs a decentralized frontier based exploration method which evaluates the cost-gain ratio to navigate to target way-points. The target way-points are obtained by an A* search variant algorithm. The potential field method is used to control the robots motion while avoiding obstacles. When a robot detects a fire, it estimates the flame's position by triangulation. The communication between the robots is done in a decentralized control way where they share the necessary data to generate the map of the environment and to perform cooperative actions in a behavioral decision making way. This paper presents simulation and experimental results of the proposed exploration and fire search method and concludes with a discussion of the obtained results and future improvements.

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Cooperating unmanned vehicles

Cited by 22 publications

References 8 publications

Addressing uncertainty in UAV navigation decision-making

Addressing uncertainty in UAV navigation decision-making

Integration of virtual pheromones for mapping/exploration of environments by using multiple robots

Multi-robot exploration and fire searching

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