Roadmap-Based Level Clearing of Buildings

Type
Book Chapter

Authors
Rodriguez, Samuel
Amato, Nancy M.

KAUST Grant Number
KUS-C1-016-04

Date
2011

Abstract
In this paper we describe a roadmap-based approach for a multi-agent search strategy to clear a building or multi-story environment. This approach utilizes an encoding of the environment in the form of a graph (roadmap) that is used to encode feasible paths through the environment. The roadmap is partitioned into regions, e.g., one per level, and we design region-based search strategies to cover and clear the environment. We can provide certain guarantees within this roadmap-based framework on coverage and the number of agents needed. Our approach can handle complex and realistic environments where many approaches are restricted to simple 2D environments. © 2011 Springer-Verlag.

Citation
Rodriguez S, Amato NM (2011) Roadmap-Based Level Clearing of Buildings. Lecture Notes in Computer Science: 340–352. Available: http://dx.doi.org/10.1007/978-3-642-25090-3_29.

Acknowledgements
This research supported in part by NSF awards CRI-0551685, CCF-0833199, CCF-0830753, IIS-096053, IIS-0917266 by THECB NHARP award 000512-0097-2009, byChevron, IBM, Intel, Oracle/Sun and by Award KUS-C1-016-04, made by KingAbdullah University of Science and Technology (KAUST).

Publisher
Springer Nature

Journal
Lecture Notes in Computer Science

DOI
10.1007/978-3-642-25090-3_29

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