Connectivity-aware planning of search and rescue missions

Feo, Eduardo and Kudelski, Michal and Gambardella, Luca Maria and Di Caro, Gianni (2013) Connectivity-aware planning of search and rescue missions. In: Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on, 21-26 Oct. 2013, Linkoping, Sweden.

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Abstract

In this paper, we deal with the problem of planning the activities of a team of mobile agents to maximize the performance of a mission, and, at the same time, enhancing the communication between them. We propose a novel approach based upon the use of connectivity directives, whose compliance is expected to translate into beneficial conditions for data exchange. Using the approach in the context of search and rescue missions, we conform a connectivity-aware planning, in which directives take the form of spatial relations among groups of agents. In the planning process, we let the user to establish the desired trade-off between connectivity provisioning and mission performance, which in turn results in mission plans that exhibit a balance between these two aspects. The evaluation indicates that, by using the connectivity-aware planning, we can greatly increase the quality of the communication at a very low expense of mission performance.

Item Type:	Article in conference proceedings or Presentation at a conference (Paper)
Uncontrolled Keywords:	multi-robot systems;path planning;rescue robots;agent communication;connectivity directives;connectivity provisioning;connectivity-aware planning;data exchange;mission performance;mobile agents;search-and-rescue missions;spatial relations;Layout;Optimization;Planning;Robots;Search problems;Spread spectrum communication;Trajectory
Subjects:	Mathematical sciences > Operational research Computer sciences > Information systems Computer sciences > Artificial intelligence
Department/unit:	Dipartimento tecnologie innovative > Istituto Dalle Molle di studi sull'intelligenza artificiale
Depositing User:	Eduardo Feo
Date Deposited:	14 Mar 2014 08:07
Last Modified:	14 Mar 2014 08:07
URI:	http://repository.supsi.ch/id/eprint/4456

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