Defining Effective Exploration Strategies for Search and Rescue Applications with Multi-Criteria Decision Making
Autonomous mobile robots are a promising technology for search and rescue scenarios, where an initially unknown environment has to be explored to locate human victims. Robots can exploit exploration strategies to autonomously move around the environment. Most of the strategies proposed in literature are based on the idea of evaluating a number of candidate locations according to ad hoc utility functions that combine different criteria. In this paper, we show some of the advantages of using a more theoretically-grounded approach, based on Multi-Criteria Decision Making (MCDM), to define exploration strategies for robots employed in search and rescue applications. We implemented our MCDM-based exploration strategies within an existing robot controller and we evaluated their performance in a simulated environment.
Nicola Basilico Francesco Amigoni
Dipartimento di Elettronica e Informazione,Politecnico di Milano,Milano,Italy
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4260-4265
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）