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Defining Effective Exploration Strategies for Search and Rescue Applications with Multi-Criteria Decision Making
 

Summary: Defining Effective Exploration Strategies for Search and Rescue
Applications with Multi-Criteria Decision Making
Nicola Basilico and Francesco Amigoni
Abstract-- Autonomous mobile robots are a promising tech-
nology for search and rescue scenarios, where an initially un-
known 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.
I. INTRODUCTION
In search and rescue with autonomous mobile robots, an
initially unknown environment has to be searched for human

  

Source: Amigoni, Francesco - Dipartimento di Elettronica e Informazione, Politecnico di Milano

 

Collections: Computer Technologies and Information Sciences