A feedback-trained autonomous control system for heterogeneous search and rescue applications

Jeremy Straub

doi:10.1117/12.919164

15 May 2012 A feedback-trained autonomous control system for heterogeneous search and rescue applications

Jeremy Straub

Proceedings Volume 8387, Unmanned Systems Technology XIV; 838706 (2012) https://doi.org/10.1117/12.919164
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

Abstract

Due to the environment in which operation occurs, earch and rescue (SAR) applications present a challenge to autonomous systems. A control technique for a heterogeneous multi-robot group is discussed. The proposed methodology is not fully autonomous; however, human operators are freed from most control tasks and allowed to focus on perception tasks while robots execute a collaborative search and identification plan. Robotic control combines a centralized dispatch and learning system (which continuously refines heuristics used for planning) with local autonomous task ordering (based on existing task priority and proximity and local conditions). This technique was tested in a SAR analogous (from a control perspective) environment.

Citation Download Citation

Jeremy Straub "A feedback-trained autonomous control system for heterogeneous search and rescue applications", Proc. SPIE 8387, Unmanned Systems Technology XIV, 838706 (15 May 2012); https://doi.org/10.1117/12.919164

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