NDLI: Network-Centric Control for Multirobot Teams in Urban Search and Rescue

Content Provider	IEEE Xplore Digital Library
Author	Lewis, M. Sycara, K.
Copyright Year	2011
Abstract	Theories from Network-centric Warfare (NCW) distinguish between network-centric and platform--centric orientations to sensing and control. In platform-centric control the operator(s) access and focus on data through platforms they control, a robot's camera, for example. In network-centric control the operator(s) do not access data through platforms but instead through the network without regard to where information originated. The conventional human role in sophisticated information gathering systems is usually as both commander (of platforms) and perceiver. Human sensory and perceptual capabilities, however, far outstrip our abilities to process information frequently making our perceptual function more critical to the mission. The use of human operators as "perceptual sensors" is standard practice for both UAVs and ground robotics where humans are called upon to "process" camera video to find targets and assist in navigation. This paper traces the evolution of an experimental human-multirobot system for Urban Search and Rescue from a platform--centric implementation in which operators navigated robots while searching for victims in streaming video to a network--centric version in which they search recorded video asynchronously. We describe two lines of research leading to our current design. In the first we identify the navigation task as both more difficult and the limiting factor in extending control to larger robot teams. In the second we found a few strategically selected images viewed asynchronously roughly comparable in performance to continuously viewed streaming video.
Starting Page	1
Ending Page	10
File Size	719756
Page Count	10
File Format	PDF
ISBN	9781424496181
ISSN	15301605
DOI	10.1109/HICSS.2011.315
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-01-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Humans Robot vision systems Cameras
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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