Needs-driven Heterogeneous Multi-Robot Cooperation in Rescue Missions | IEEE Conference Publication | IEEE Xplore

Needs-driven Heterogeneous Multi-Robot Cooperation in Rescue Missions


Abstract:

This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose...Show More

Abstract:

This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose a needs-driven multi-robot cooperation mechanism represented through a Behavior Tree structure and evaluate the system's performance in terms of the group utility and energy cost to achieve the rescue mission in a limited time. From the theoretical analysis, we prove that the needs-driven cooperation in a heterogeneous robot system enables higher group utility than a homogeneous robot system. We also perform simulation experiments to verify the proposed needs-driven collaboration and show that the heterogeneous multi-robot cooperation can achieve better performance and increase system robustness by reducing uncertainty in task execution. Finally, we discuss the application to human-robot teaming.
Date of Conference: 04-06 November 2020
Date Added to IEEE Xplore: 29 December 2020
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Conference Location: Abu Dhabi, United Arab Emirates

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