Autonomous exploration for search and rescue robots

摘要

Search and rescue scenarios offer a wide variety of tasks where the experimentation of mobile robots is possible. Specifically, we describe some of the issues arising from scenarios where full autonomy of the robot is required. In this paper after briefly describing our robot configuration and basic functionalities, we address the exploration problem for a rescue robot and present a fully autonomous strategy for this task. We explain algorithms and methods used for this process and present typical experimental results.