LiU Electronic Press
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Author:
Kleiner, Alexander (University of Freiburg)
Prediger, J. (University of Freiburg) (Foundations of Artificial Intelligence)
Nebel, Bernhard (University of Freiburg) (Foundations of Artificial Intelligence)
Title:
RFID Technology-based Exploration and SLAM for Search And Rescue
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)
Conference:
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)
Publisher: IEEE conference proceedings
Pages:
4054-4059
Year of publ.:
2006
URI:
urn:nbn:se:liu:diva-72561
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72561
ISBN:
1-4244-0258-1
Subject category:
Robotics
Project:
Artificial Intelligence & Integrated Computer Systems
Abstract(en) :

Robot search and rescue is a time critical task, i.e. a large terrain has to be explored by multiple robots within a short amount of time. The efficiency of exploration depends mainly on the coordination between the robots and hence on the reliability of communication, which considerably suffers under the hostile conditions encountered after a disaster. Furthermore, rescue robots have to generate a map of the environment which has to be sufficiently accurate for reporting the locations of victims to human task forces. Basically, the robots have to solve autonomously in real-time the problem of Simultaneous Localization and Mapping (SLAM). This paper proposes a novel method for real-time exploration and SLAM based on RFID tags that are autonomously distributed in the environment. We utilized the algorithm of Lu and Milios for calculating globally consistent maps from detected RFID tags. Furthermore we show how RFID tags can be used for coordinating the exploration of multiple robots. Results from experiments conducted in the simulation and on a robot show that our approach allows the computationally efficient construction of a map within harsh environments, and coordinated exploration of a team of robots.

Available from:
2011-11-28
Created:
2011-11-28
Last updated:
2011-12-06
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