Distributed Data Fusion for Multirobot Search

Hollinger, Geoffrey A.; Yerramalli, Srinivas; Singh, Sanjiv; Mitra, Urbashi; Sukhatme, Gaurav S.

Citeable URL: https://ir.library.oregonstate.edu/concern/articles/8623j052t

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Descriptions

Attribute Name	Values
Alternative Title	Distributed Data Fusion for Multi-robot Search
Creator	Hollinger, Geoffrey A. Yerramalli, Srinivas Singh, Sanjiv Mitra, Urbashi Sukhatme, Gaurav S.
Abstract	This paper presents novel data fusion methods that enable teams of vehicles to perform target search tasks without guaranteed communication. Techniques are introduced for merging estimates of a target’s position from vehicles that regain contact after long periods of time, and a fully distributed team planning algorithm is proposed that utilizes limited shared information as it becomes available. The proposed data fusion techniques are shown to avoid overcounting information, which ensures that combining data from different vehicles will not decrease the performance of the search. Motivated by the underwater search domain, a realistic underwater acoustic communication channel is used to determine the probability of successful data transfer between two locations. The channel model is integrated into a simulation of multiple autonomous vehicles in both open water and harbor environments. The results demonstrate that the proposed distributed coordination techniques provide performance competitive with full communication.
Resource Type	Article
DOI	10.1109/TRO.2014.2378411
Date Available	2015-10-09T23:18:45+00:00
Date Issued	2015-02
Citation	Hollinger, G., Yerramalli, S., Singh, S., Mitra, U., & Sukhatme, G. S. (2015). Distributed Data Fusion for Multirobot Search. IEEE Transactions on Robotics, 31(1), 55-66. doi:10.1109/TRO.2014.2378411
Journal Title	IEEE Transactions on Robotics
Journal Volume	31
Journal Issue/Number	1
Keyword	networked robots distributed robot systems marine robotics path planning for multiple mobile robot systems robotic search
Rights Statement	Copyright Not Evaluated
Funding Statement (additional comments about funding)	This research has been funded in part by the following grants: ONR N00014-09-1-0700, ONR N00014-07-1-00738, ONR N00014-14-1-0509, NSF CCR-0120778, and NSF CNS-1035866.
Publisher	IEEE - Institute of Electrical and Electronics Engineers
Peer Reviewed	Yes
Language	English [eng]
Replaces	http://hdl.handle.net/1957/57493
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