Autonomous networked robots for the establishment of wireless communication in uncertain emergency response scenarios
Autonomous networked robots for the establishment of wireless communication in uncertain emergency response scenarios
复制标题
用于在不确定的应急响应场景中建立无线通信的自主网络机器人
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
G. Loukas
中科院分区：
文献类型：
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作者：
S. Timotheou;G. Loukas
在灾难期间，应急响应行动可以受益于无线自组织网络的建立。我们建议使用在灾区内部移动的自主机器人，并在位置不确定的被困平民和操作中心之间建立双向通信网络。我们的目标是最大限度地增加连接到网络的平民数量。我们提出了一种分布式算法，该算法涉及根据预期的短缺对平民的可能位置进行聚类；集群有利于平民群体内部的连通性和基于这些地点的不确定性的探索。为了实现时间和能量的有效分配，我们还开发了一种改进的算法，根据该算法，机器人考虑聚类中心形成的图并遵循其最小生成树。我们进行了仿真并讨论了两种算法在不同情况下的效率和适用性。
During a disaster, emergency response operations can benefit from the establishment of a wireless ad hoc network. We propose the use of autonomous robots that move inside a disaster area and establish a network for two-way communication between trapped civilians with uncertain locations and an operation centre. Our aim is to maximise the number of civilians connected to the network. We present a distributed algorithm which involves clustering possible locations of civilians according to their expected shortfall; clustering facilitates both connectivity within groups of civilians and exploration that is based on the uncertainty of these locations. To achieve efficient allocation in terms of time and energy, we also develop a modified algorithm according to which the robots consider the graph that the cluster centres form and follow its minimum spanning tree. We conduct simulations and discuss the efficiency and appropriateness of the two algorithms in different situations.