Agent-based coordination of human-multirobot teams in complex environments

摘要: Room clearing, in which building surveillance is conducted to search for criminals, continues be a dangerous and difficult problem urban settings, both the military as well police. In typical setting, an unknown number of hostile forces may located building, they armed. Furthermore, there innocent civilians. The goal friendly units enter room secure it, but without loss life forces, most especially It would beneficial allow robots part team, however it very challenging have that do not either slow down or obstruct their human teammate. This since nearly all use by police today are tele-operated. this paper, we describe work developed cooperation with army, clearing domain. We constructed algorithm whereby multiple agents, form robots, can accomplish task. augmented agent algorithms introduce Adjustable Autonomy, allowing humans. simulated results on maps, furthermore how intend next conduct hardware tests, eventual plans field system. agent-based solution has great potential increase acceptance leverage robotics complex environments.