Exhaustive geographic search with mobile robots along space-filling curves

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Swarms of mobile robots can be tasked with searching a geographic region for targets of interest, such as buried land mines. The authors assume that the individual robots are equipped with sensors tuned to the targets of interest, that these sensors have limited range, and that the robots can communicate with one another to enable cooperation. How can a swarm of cooperating sensate robots efficiently search a given geographic region for targets in the absence of a priori information about the target`s locations? Many of the obvious approaches are inefficient or lack robustness. One efficient approach is to have the ... continued below

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14 p.

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Spires, S. V. & Goldsmith, S. Y. March 1998.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 68 times , with 4 in the last month . More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

Swarms of mobile robots can be tasked with searching a geographic region for targets of interest, such as buried land mines. The authors assume that the individual robots are equipped with sensors tuned to the targets of interest, that these sensors have limited range, and that the robots can communicate with one another to enable cooperation. How can a swarm of cooperating sensate robots efficiently search a given geographic region for targets in the absence of a priori information about the target`s locations? Many of the obvious approaches are inefficient or lack robustness. One efficient approach is to have the robots traverse a space-filling curve. For many geographic search applications, this method is energy-frugal, highly robust, and provides guaranteed coverage in a finite time that decreases as the reciprocal of the number of robots sharing the search task. Furthermore, it minimizes the amount of robot-to-robot communication needed for the robots to organize their movements. This report presents some preliminary results from applying the Hilbert space-filling curve to geographic search by mobile robots.

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14 p.

Notes

OSTI as DE98005040

Source

  • Collective robotics workshop, Paris (France), 4-7 Jul 1998

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  • Other: DE98005040
  • Report No.: SAND--98-0743C
  • Report No.: CONF-980714--
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 650372
  • Archival Resource Key: ark:/67531/metadc709313

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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  • March 1998

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  • Sept. 12, 2015, 6:31 a.m.

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  • May 5, 2016, 7:24 p.m.

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Spires, S. V. & Goldsmith, S. Y. Exhaustive geographic search with mobile robots along space-filling curves, article, March 1998; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc709313/: accessed October 18, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.