Directional Audio Beacon Deployment: An Assistive Multi-Robot Application Conference Paper

abstract

• This paper addresses the problem of directional audio beacon deployment. We describe how these beacons can be used on mobile robots to produce a system that can self-deploy and aid in disaster recovery efforts. A distributed algorithm that uses explicit communication to coordinate the deployment process is presented. The algorithm employs existing multi-robot task allocation methodologies and a procedure for clustering potential deployment locations in a problem domain-specific manner. Results from a sensor-based multi-robot simulation demonstrate that self-deploying beacons are indeed feasible and have the potential to decrease expected egress time. Furthermore, we show that the implementation is free of simulator-specific anomalies through trials with a group of physical robots.

name of conference

• IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

authors

• Shell, Dylan

published proceedings

• IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

author list (cited authors)

• Shell, D. A., & Matari, M. J.

citation count

• 8

complete list of authors

• Shell, Dylan A||Matarić, Maja J

publication date

• January 2004

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

Digital Object Identifier (DOI)

• 10.1109/robot.2004.1307451

start page

• 2588

end page

• 2594

volume

• 3

issue

• 3

URL

• http://dx.doi.org/10.1109/robot.2004.1307451