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

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.

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