Investigation of Fundamental Algorithms for Cooperative Exploration of Mobile Agents in Search and Rescue Scenarios

摘要

In this project, we present the framework and methodology for developing a control algorithm for small mobile robots with limited range of communication in the context of rescuing victims trapped in debris after an earthquake. Our approach focuses on autonomous control and cooperative behavior among robots, with an emphasis on exploration techniques rather than complex maneuvering mechanics. To accomplish this objective, we establish a systematic methodology that involves analyzing primitive exploration algorithms in simulated scenarios, evaluating their effectiveness, and designing a priority function that enables adaptive switching based on sensor information and data from other mobile agents.