Exhaustive geographic search with mobile robots along space-filling curves
Swarms of mobile robots can be tasked with searching a geographic region for targets of interest, such as buried land mines. The authors assume that the individual robots are equipped with sensors tuned to the targets of interest, that these sensors have limited range, and that the robots can communicate with one another to enable cooperation. How can a swarm of cooperating sensate robots efficiently search a given geographic region for targets in the absence of a priori information about the target`s locations? Many of the obvious approaches are inefficient or lack robustness. One efficient approach is to have the robots traverse a space-filling curve. For many geographic search applications, this method is energy-frugal, highly robust, and provides guaranteed coverage in a finite time that decreases as the reciprocal of the number of robots sharing the search task. Furthermore, it minimizes the amount of robot-to-robot communication needed for the robots to organize their movements. This report presents some preliminary results from applying the Hilbert space-filling curve to geographic search by mobile robots.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE Assistant Secretary for Management and Administration, Washington, DC (United States); USDOE Assistant Secretary for Human Resources and Administration, Washington, DC (United States); USDOE Office of Financial Management and Controller, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 650372
- Report Number(s):
- SAND-98-0743C; CONF-980714-; ON: DE98005040; BR: YN0100000; TRN: AHC2DT04%%286
- Resource Relation:
- Conference: Collective robotics workshop, Paris (France), 4-7 Jul 1998; Other Information: PBD: Mar 1998
- Country of Publication:
- United States
- Language:
- English
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