NDLI: Dispersion behaviors for a team of multiple miniature robots

Content Provider	IEEE Xplore Digital Library
Author	Pearce, J.L. Rybski, P.E. Stoeter, S.A. Papanikolopoulos, N.
Copyright Year	2003
Description	Author affiliation: Dept. of Comput. Sci.and Engineering, Minnesota Univ., Duluth, MN, USA (Pearce, J.L.; Rybski, P.E.; Stoeter, S.A.; Papanikolopoulos, N.)
Abstract	To safely and efficiently guide search and rescue operations in disaster areas, gathering of relevant information such as the locations of victims, must occur swiftly. Using the concept of repellent virtual pheromones inspired by insect colony coordination behaviors, miniature robots can be quickly dispersed to survey a disaster site. Assisted by visual servoing, dispersion of the miniature robots can quickly cover an area. An external observer such as another robot or an overhead camera is brought into the control loop to provide each miniature robot estimations of the positions of all the other nearby robots in the robotic team. Each robot can then move away from the other nearby robots, resulting in the robot collective swiftly dispersing through the local area. The technique has been implemented using the miniature scout robots, developed by the Center for Distributed Robotics at the University of Minnesota, which are well-suited to surveillance and reconnaissance missions.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	1158
Ending Page	1163
File Size	464047
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1241749
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Robot sensing systems Humans Reconnaissance Robot vision systems Cameras Surveillance Computer science Insects Remote sensing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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