Summary
In this paper, we describe real-time methods for incorporating non-line-of-sight range measurements into a framework for finding a non-adversarial target in cluttered environments using multiple robotic searchers. We extend previous coordinated search strategies to utilize information from noisy non-line-of-sight range measurements. Sensors using ultra-wideband radio are becoming available that provide range measurements to targets even when they are occluded. We present two Bayesian methods for updating the expected location of a mobile target and integrating these updates into planning. We present simulated results in a complex museum environment as well as on mobile robots. Our results show the success of our algorithms at utilizing information from measurements in a coordinated search framework.
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© 2008 Springer-Verlag Berlin Heidelberg
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Hollinger, G., Djugash, J., Singh, S. (2008). Coordinated Search in Cluttered Environments Using Range from Multiple Robots. In: Laugier, C., Siegwart, R. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 42. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75404-6_41
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DOI: https://doi.org/10.1007/978-3-540-75404-6_41
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-75403-9
Online ISBN: 978-3-540-75404-6
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