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Wilderness Search and Rescue with Heterogeneous Multi-Robot Systems*

机译：异构多机器人系统的野外搜索和救援*

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摘要

Recent developments in autonomous and communication technologies led the use of cooperative aerial and ground vehicles in Wilderness Search and Rescue missions (WiSAR). The use of a heterogeneous Multi-Robot System (MRS) improves the robustness and efficiency in achieving these tasks, comparing to the homogeneous systems with vehicles of the same characteristics. From this point, this paper proposed a Multi-Robot Task Allocation (MRTA) algorithm for heterogeneous vehicles (UAVs and UGVs) using the Market-based Approach to optimize the mission resources. The algorithm checks the availability of the vehicles, the characteristics of each task, and the payload required as inputs, then it provides each vehicle with a plan of tasks and charging commands. The proposed algorithm has been validated by performing several missions in simulations of mountains terrain with real dimensions, and the obtained results show the robustness and efficiency of the proposed system.
机译：自主和通信技术的最新发展导致在野外搜索与救援任务（WiSAR）中使用了合作的空中和地面飞行器。与具有相同特性的车辆的同类系统相比，使用异构多机器人系统（MRS）可以提高完成这些任务的鲁棒性和效率。从这一点出发，本文提出了一种基于市场的方法为异构车辆（UAV和UGV）的多机器人任务分配（MRTA）算法，以优化任务资源。该算法检查车辆的可用性，每个任务的特性以及作为输入所需的有效载荷，然后为每个车辆提供任务计划和充电命令。通过在真实尺寸的山地地形模拟中执行多个任务对所提出的算法进行了验证，所获得的结果表明了所提出系统的鲁棒性和效率。

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