1st International ICST Conference on Robot Communication and Coordination

Research Article

Reconnaissance into Distant Spaces by Multi-Robot Rescue System with Ad Hoc Networking

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  • @INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2105,
        author={Hisayoshi Sugiyama and Tetsuo Tsujioka and Masashi Murata},
        title={Reconnaissance into Distant Spaces by Multi-Robot Rescue System with Ad Hoc Networking},
        proceedings={1st International ICST Conference on Robot Communication and Coordination},
        proceedings_a={ROBOCOMM},
        year={2010},
        month={5},
        keywords={multi-robot USAR adhoc network rescue system.},
        doi={10.4108/ICST.ROBOCOMM2007.2105}
    }
    
  • Hisayoshi Sugiyama
    Tetsuo Tsujioka
    Masashi Murata
    Year: 2010
    Reconnaissance into Distant Spaces by Multi-Robot Rescue System with Ad Hoc Networking
    ROBOCOMM
    ICST
    DOI: 10.4108/ICST.ROBOCOMM2007.2105
Hisayoshi Sugiyama1,*, Tetsuo Tsujioka1, Masashi Murata2
  • 1: Dept. of Physical Electronics and Informatics Osaka City University Osaka, Japan 558-8585
  • 2: Faculty of Science and Technology Ryukoku University Otsu, Japan 520-2194
*Contact email: sugi@info.eng.osaka-cu.ac.jp

Abstract

The system procedure of a victim detection system (VDS) is investigated to reconnoiter distance spaces. VDS is a previously proposed multi-robot rescue system, which searches for victims in urban disaster areas, that consists of mobile robots and one monitor station with operators. An ad hoc wireless network, which connects all of them, is continuously maintained by autonomous path recovery (APR) executed by each robot. The proposed VDS procedure adopts autonomous classification of robots into search and relay robots that act based on the behavior algorithms of each class of robot to configure chain networks threading a path to the spaces. The rules of classification and the behavior algorithm refer to the forwarding tables of each robot constructed for ad hoc networking. Simulation results show that VDS can reconnoiter distant spaces autonomously even though two or three spaces exist beyond different corridors stemming from the safety zone where the monitor station is established. Index Terms—multi-robot, USAR, adhoc network, rescue system.