Towards autonomous robot swarms for multi-target localisation and monitoring with applications to counter IED operations. (3rd January 2011)

• Record Type: Journal Article
• Authors: Mullen, Robert J.; Barman, Sarah; Remagnino, Paolo; Monekosso, Dorothy
• Is Part Of: International journal of intelligent defence support systems. Volume 4:Number 1(2011)
• Page Start: 87
• Page End: 107
• Publication Date: 2011-01-03
• Subjects: swarm robotics -- swarm intelligence -- multi-robot systems -- autonomous robots -- autonomous control laws -- self-organisation -- distributed robotics -- robot target localisation -- robot target monitoring -- robot formation control -- counter IED operations; Artificial intelligence -- Military applications -- Periodicals; Cybernetics -- Periodicals; Experimental design -- Periodicals; 623.028563
• Languages: English
• ISSNs: 1755-1587

Abstract

A swarm robotics approach is adopted in designing a fully autonomous multi-robot-based solution to the problem of locating generic targets within a given search space. A proof of concept system is developed and tested within a 3D simulation environment. A series of laboratory experiments are carried out to assess the performance of the system with respect to the given task of localising and monitoring generic targets, with reference to a counter IED scenario. Further experiments are carried out to evaluate the robustness to robot failure and scalability of the system.