Collaborative multi-robot search and rescue : Planning, coordination, perception, and active vision

Show simple item record Peña Queralta, Jorge Taipalmaa, Jussi Can Pullinen, Bilge Sarker, Victor Kathan Nguyen Gia, Tuan Tenhunen, Hannu Gabbouj, Moncef Raitoharju, Jenni Westerlund, Tomi 2021-09-10T10:58:35Z 2021-09-10T12:45:13Z 2020
dc.identifier.citation J. P. Queralta et al., "Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision," in IEEE Access, vol. 8, pp. 191617-191643, 2020. fi
dc.description.abstract Search and rescue (SAR) operations can take significant advantage from supporting autonomous or teleoperated robots and multi-robot systems. These can aid in mapping and situational assessment, monitoring and surveillance, establishing communication networks, or searching for victims. This paper provides a review of multi-robot systems supporting SAR operations, with system-level considerations and focusing on the algorithmic perspectives for multi-robot coordination and perception. This is, to the best of our knowledge, the first survey paper to cover (i) heterogeneous SAR robots in different environments, (ii) active perception in multi-robot systems, while (iii) giving two complementary points of view from the multi-agent perception and control perspectives. We also discuss the most significant open research questions: shared autonomy, sim-to-real transferability of existing methods, awareness of victims' conditions, coordination and interoperability in heterogeneous multi-robot systems, and active perception. The different topics in the survey are put in the context of the different challenges and constraints that various types of robots (ground, aerial, surface, or underwater) encounter in different SAR environments (maritime, urban, wilderness, or other post-disaster scenarios). The objective of this survey is to serve as an entry point to the various aspects of multi-robot SAR systems to researchers in both the machine learning and control fields by giving a global overview of the main approaches being taken in the SAR robotics area. fi
dc.language.iso eng
dc.publisher IEEExplore
dc.relation.ispartofseries IEEE Access 8 fi
dc.rights CC BY 4.0
dc.subject robot kinematics fi
dc.subject multi-robot systems fi
dc.subject collaboration fi
dc.subject robot sensing systems fi
dc.subject planning fi
dc.title Collaborative multi-robot search and rescue : Planning, coordination, perception, and active vision fi
dc.type Article en
dc.identifier.laitoskoodi Suomen ympäristökeskus
dc.subject.ysa robotti kinematiikka fi
dc.subject.ysa usean robotin järjestelmät fi
dc.subject.ysa yhteistyö fi
dc.subject.ysa robotin tunnistusjärjestelmät fi
dc.subject.ysa suunnittelu fi
dc.relation.issn 2169-3536
dc.rights.accesslevel openAccess

Files in this item

Total number of downloads: Loading...

Files Size Format View
Queralta et al. ... obot search and rescue.pdf 5.444Mb PDF View/Open

This item appears in the following Collection(s)

Show simple item record