Strategic Control of Proximity Relationships in Heterogeneous Search and Rescue Teams

Feo, Eduardo and Gambardella, Luca Maria and Di Caro, Gianni (2013) Strategic Control of Proximity Relationships in Heterogeneous Search and Rescue Teams. In: 3rd IROS Workshop on Robots and Sensors integration in future rescue INformation system (ROSIN), November 7, 2013, Tokyo, Japan.

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Strategic Control of Proximity Relationships in Heterogeneous Search and Rescue Teams.pdf - Published Version

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Official Website: http://arxiv.org/abs/1312.4601

Abstract

In the context of search and rescue, we consider the problem of mission planning for heterogeneous teams that can include human, robotic, and animal agents. The problem is tackled using a mixed integer mathematical programming formulation that jointly determines the path and the activity scheduling of each agent in the team. Based on the mathematical formulation, we propose the use of soft constraints and penalties that allow the flexible strategic control of spatio-temporal relations among the search trajectories of the agents. In this way, we can enable the mission planner to obtain solutions that maximize the area coverage and, at the same time, control the spatial proximity among the agents (e.g., to minimize mutual task interference, or to promote local cooperation and data sharing). Through simulation experiments, we show the application of the strategic framework considering a number of scenarios of interest for real-world search and rescue missions.

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