Robot Swarm Navigation and Victim Detection Using Rendezvous Consensus in Search and Rescue Operations
| dc.contributor.author | Cardona Calderón, Gustavo Andrés | spa |
| dc.contributor.author | Calderon Chavez, Juan Manuel | spa |
| dc.contributor.cvlac | http://scienti.colciencias.gov.co:8081/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000380938 | spa |
| dc.contributor.cvlac | https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000184305 | spa |
| dc.contributor.orcid | https://orcid.org/0000-0002-4471-3980 | spa |
| dc.coverage.campus | CRAI-USTA Bogotá | spa |
| dc.date.accessioned | 2020-05-19T17:09:52Z | spa |
| dc.date.available | 2020-05-19T17:09:52Z | spa |
| dc.date.issued | 2019-04-25 | spa |
| dc.description.abstract | Cooperative behaviors in multi-robot systems emerge as an excellent alternative for collaboration in search and rescue tasks to accelerate the finding survivors process and avoid risking additional lives. Although there are still several challenges to be solved, such as communication between agents, power autonomy, navigation strategies, and detection and classification of survivors, among others. The research work presented by this paper focuses on the navigation of the robot swarm and the consensus of the agents applied to the victims detection. The navigation strategy is based on the application of particle swarm theory, where the robots are the agents of the swarm. The attraction and repulsion forces that are typical in swarm particle systems are used by the multi-robot system to avoid obstacles, keep group compact and navigate to a target location. The victims are detected by each agent separately, however, once the agents agree on the existence of a possible victim, these agents separate from the general swarm by creating a sub-swarm. The sub-swarm agents use a modified rendezvous consensus algorithm to perform a formation control around the possible victims and then carry out a consensus of the information acquired by the sensors with the aim to determine the victim existence. Several experiments were conducted to test navigation, obstacle avoidance, and search for victims. Additionally, different situations were simulated with the consensus algorithm. The results show how swarm theory allows the multi-robot system navigates avoiding obstacles, finding possible victims, and settling down their possible use in search and rescue operations. | spa |
| dc.description.domain | http://unidadinvestigacion.usta.edu.co | spa |
| dc.format.mimetype | application/pdf | spa |
| dc.identifier.citation | Cardona, G.A.; Calderon, J.M. Robot Swarm Navigation and Victim Detection Using Rendezvous Consensus in Search and Rescue Operations. Appl. Sci. 2019, 9, 1702. | spa |
| dc.identifier.doi | https://doi.org/10.1007/978-3-319-53480-0_104 | spa |
| dc.identifier.uri | http://hdl.handle.net/11634/23298 | |
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| dc.relation.references | Couceiro, M.S.; Rocha, R.P.; Ferreira, N.M. A novel multi-robot exploration approach based on particle swarm optimization algorithms. In Proceedings of the 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Kyoto, Japan, 1–5 November 2011; pp. 327–332. | spa |
| dc.relation.references | Edlinger, R.; Zauner, M.; Rokitansky, W. RRTLAN-A real-time robot communication protocol stack with multi threading option. In Proceedings of the 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Linkpoping, Sweden, 21–26 October 2013; pp. 1–5. | spa |
| dc.relation.references | Wiltsche, C.; Lygeros, J.; Ramponi, F.A. Synthesis of an asynchronous communication protocol for search and rescue robots. In Proceedings of the 2013 European Control Conference (ECC), Zurich, Switzerland, 17–19 July 2013; pp. 1256–1261. | spa |
| dc.relation.references | Pan, Q.W.; Lowe, D. Search and rescue robot team RF communication via power cable transmission line—A proposal. In Proceedings of the International Symposium on Signals, Systems and Electronics, ISSSE’07, Montreal, QC, Canada, 30 July–2 August 2007; pp. 287–290. | spa |
| dc.relation.references | Araujo, F.; Santos, J.; Rocha, R.P. Implementation of a routing protocol for Ad Hoc networks in search and rescue robotics. In Proceedings of the 2014 IFIP Wireless Days (WD), Rio de Janeiro, Brazil, 12–14 November 2014; pp. 1–7. | spa |
| dc.relation.references | Nurellari, E.; McLernon, D.C.; Ghogho, M. Distributed two-step quantized fusion rules via consensus algorithm for distributed detection in wireless sensor networks. IEEE Trans. Signal Inf. Process. Netw. 2016, 2. [CrossRef] | spa |
| dc.relation.references | Ghassemian, H. A review of remote sensing image fusion methods. Inf. Fusion 2016, 32, 75–89. [CrossRef] | spa |
| dc.relation.references | Misra, S.; Vasilakos, A.V.; Obaidat, M.S.; Krishna, P.V.; Agarwal, H.; Saritha, V. A fault-tolerant routing protocol for dynamic autonomous unmanned vehicular networks. In Proceedings of the 2013 IEEE International Conference on Communications (ICC), Budapest, Hungary, 9–13 June 2013; pp. 3525–3529. | spa |
| dc.relation.references | Chelbi, S.; Duvallet, C.; Abdouli, M.; Bouaziz, R. Event-driven wireless sensor networks based on consensus. In Proceedings of the 2016 IEEE/ACS 13th International Conference of Computer Systems and Applications (AICCSA), Agadir, Morocco, 29 November–2 December 2016; pp. 1–6. | spa |
| dc.relation.references | Li, X.; Qiao, D.; Li, Y.; Dai, H. A novel through-wall respiration detection algorithm using uwb radar. In Proceedings of the 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Osaka, Japan, 3–7 July 2013; pp. 1013–1016. | spa |
| dc.relation.references | Li, J.; Liu, L.; Zeng, Z.; Liu, F. Advanced signal processing for vital sign extraction with applications in UWB radar detection of trapped victims in complex environments. IEEE J. Sel. Top. Appl. Earth Obs. Remote Sens. 2014, 7, 783–791. | spa |
| dc.relation.references | Friedman, M.; Haddad, Y.; Blekhman, A. ACOUFIND: Acoustic ad-hoc network system for trapped person detection. In Proceedings of the 2015 IEEE International Conference on Microwaves, Communications, Antennas and Electronic Systems (COMCAS), Tel-Aviv, Israel, 2–4 November 2015; pp. 1–4. | spa |
| dc.relation.references | Couceiro, M.S.; Portugal, D.; Rocha, R.P. A collective robotic architecture in search and rescue scenarios. In Proceedings of the 28th Annual ACM Symposium on Applied Computing, Coimbra, Portugal, 18–22 March 2013; pp. 64–69. | spa |
| dc.relation.references | Alvissalim, M.S.; Zaman, B.; Hafizh, Z.A.; Ma’sum, M.A.; Jati, G.; Jatmiko, W.; Mursanto, P. Swarm quadrotor robots for telecommunication network coverage area expansion in disaster area. In Proceedings of the 2012 SICE Annual Conference (SICE), Akita, Japan, 20–23 August 2012; pp. 2256–2261. | spa |
| dc.relation.references | Rocha, R.; Dias, J.; Carvalho, A. Cooperative multi-robot systems: A study of vision-based 3-d mapping using information theory. Robot. Auton. Syst. 2005, 53, 282–311. [CrossRef] | spa |
| dc.relation.references | Rohmer, E.; Singh, S.P.; Freese, M. V-REP: A versatile and scalable robot simulation framework. In Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 3–8 November 2013; pp. 1321–1326. | spa |
| dc.relation.references | Messina, E.R.; Jacoff, A.S. Measuring the performance of urban search and rescue robots. In Proceedings of the 2007 IEEE Conference on Technologies for Homeland Security, Woburn, MA, USA, 16–17 May 2007; pp. 28–33. | spa |
| dc.relation.references | Chiou, A.; Wynn, C. Urban search and rescue robots in test arenas: Scaled modeling of disasters to test intelligent robot prototyping. In Proceedings of the UIC-ATC’09—Symposia and Workshops on Ubiquitous, Autonomic and Trusted Computing, Brisbane, Australia, 7–9 July 2009; pp. 200–205. | spa |
| dc.relation.references | Saeedi, P.; Sorensen, S.A.; Hailes, S. Performance-aware exploration algorithm for search and rescue robots. In Proceedings of the 2009 IEEE International Workshop on Safety, Security & Rescue Robotics (SSRR), Denver, CO, USA, 3–6 November 2009; pp. 1–6. | spa |
| dc.relation.references | Seeley, T.D.; Buhrman, S.C. Group decision making in swarms of honey bees. Behav. Ecol. Sociobiol. 1999, 45, 19–31. [CrossRef] | spa |
| dc.relation.references | Mesbahi, M.; Egerstedt, M. Graph Theoretic Methods in Multiagent Networks; Princeton University Press: Princeton, NJ, USA, 2010. | spa |
| dc.relation.references | Reynolds, C.W. Flocks, herds and schools: A distributed behavioral model. ACM SIGGRAPH Comput. Gr. 1987, 21, 25–34. [CrossRef] | spa |
| dc.relation.references | Bullo, F.; Cortes, J.; Martinez, S. Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms; Princeton University Press: Princeton, NJ, USA, 2009; Volume 27. | spa |
| dc.relation.references | Calderon, J. Mobile Robotics & Intelligent Systems. Robot Swarm Navigation-Obstacles. 2018. Available online: https://youtu.be/6B5TVmT8knI (accessed 0n 21 March 2019). | spa |
| dc.relation.references | Calderon, J. Mobile Robotics & Intelligent Systems. Robot Swarm Navigation. 2018. Available online: https: //youtu.be/F2tsg9jzIoY (accessed on 21 March 2019). | spa |
| dc.rights | Atribución-NoComercial-SinDerivadas 2.5 Colombia | * |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/2.5/co/ | * |
| dc.subject.keyword | swarm-robotics | spa |
| dc.subject.keyword | rendezvous consensus | spa |
| dc.subject.keyword | robot navigation | spa |
| dc.subject.keyword | victim-detection | spa |
| dc.subject.lemb | Ciencia y tecnología | spa |
| dc.subject.lemb | Robots | spa |
| dc.subject.lemb | Robótica | spa |
| dc.subject.proposal | enjambre-robótica | spa |
| dc.subject.proposal | encuentro de consenso | spa |
| dc.subject.proposal | navegación robotizada | spa |
| dc.subject.proposal | detección de víctimas | spa |
| dc.title | Robot Swarm Navigation and Victim Detection Using Rendezvous Consensus in Search and Rescue Operations | spa |
| dc.type.category | Apropiación Social y Circulación del Conocimiento: Edición de revista o libro de divulgación científica | spa |
