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A feasibility study for energy autonomy in multi robot search and rescue operations

Sindi, Yosoph; Pipe, Tony; Dogramadzi, Sanja; Winfield, Alan; Melhuish, Chris

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Authors

Yosoph Sindi

Chris Melhuish Chris.Melhuish@uwe.ac.uk
Professor of Robotics & Autonomous Systems



Contributors

L Marques
Editor

A de Almeida
Editor

M.O Tokhi
Editor

G.S Virk
Editor

Abstract

This paper proposes a novel search and rescue concept that aims to overcome the most basic obstacle in utilising a search and rescue teleoperated robot for a long distance energy autonomy. The concept utilizes a number of small robots capable of creating an energy supply chain that extends,to a degree based on the requirements of the search area. In this present work, the collaborative group of robots’predominant task is to maintain a constant supply of energy to the leading robot. Feasibility of the energy transfer and ‘energy cost’ have been simulated which consequently produced a mathematical description of the cost function. The results presented are obtained using a set of identical robots capable of conveying energy from the last deployed all the way to the leading robot. A robot single-line formation is important as it maps out the most frugal energy supply line. The methodology used was to simulate both methods of energy transfer, robots charging each other and robots exchanging batteries. The first method was implemented using MARCO2 (an in house built robot) to test the validity of the computer simulation and to study the effect of inaccurate localisation on the system.

Citation

Sindi, Y., Pipe, T., Dogramadzi, S., Winfield, A., & Melhuish, C. (2008). A feasibility study for energy autonomy in multi robot search and rescue operations. In L. Marques, A. D. Almeida, M. Tokhi, & G. Virk (Eds.), Advances in Mobile Robotics: Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Coimbra, Portugal, 8-10 September 2008 (1146-1153). https://doi.org/10.1142/9789812835772_0137

Conference Name CLAWAR 2008: 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Conference Location Portugal
Start Date Sep 8, 2010
End Date Sep 10, 2010
Publication Date Sep 8, 2008
Deposit Date Dec 5, 2011
Publicly Available Date Apr 12, 2016
Peer Reviewed Peer Reviewed
Pages 1146-1153
Book Title Advances in Mobile Robotics: Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Coimbra, Portugal, 8-10 September 2008
ISBN 9812835768; 9789812835765
DOI https://doi.org/10.1142/9789812835772_0137
Public URL https://uwe-repository.worktribe.com/output/1009275
Publisher URL http://ebooks.worldscinet.com/ISBN/9789812835772/9789812835772.html
Related Public URLs http://dx.doi.org/10.1142/9789812835772_0137
Additional Information Additional Information : A feasibility study for energy autonomy in multi robot search and rescue operations, Sindi, Y., Pipe, A., Winfield, A., Dogramadzi, S. and Melhuish, C., Copyright @ 2008 and World Scientific Publishing Co. with permission from World Scientific Publishing Co. Pte. Ltd.

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