Multi-robot network system for rescue operation

得到了以下三点。其中，被害人侦查制度是指首席调查员提出的救援行动制度。该系统由多机器人和一个监控站组成。为了维护网络，在该系统中，每个机器人都进行自主的传球恢复。(1)远距离空间侦察的研究。提出了远距离空间的侦察方案，并对其性能进行了验证。该方案包括机器人在空间中向目的地的顺序移动，以及到达目的地后的随机行走。通过计算机仿真验证，在通信路径中断的情况下，中断恢复，侦察成功。(2)广域探测的研究，提出了广域探测的概念，并对其性能进行了验证。该方案将机器人分为搜索机器人(SR)和中继机器人(RR)，并通过RR的移动来维持MS与主SR之间的通信路径。(3)动态图像实时流传输技术研究针对自组织网络中的动态图像实时流传输问题，提出了一种同步的Qos路由。然而，当网络拓扑频繁变化时，由于无效VC降低了通信成功率，传统的方案不适用于救援行动。为了解决这一问题，在同步服务质量路由中提出了修改帧结构的方法。通过计算机仿真验证了系统的性能。

The following three points are obtained. Where, victim detection system means a system for rescue operation which the head investigator proposed. The system consists of multi-robots and a monitor station. For the purpose to maintain the network, each robot does the autonomous pass recovery in this system.(1)The investigation of the reconnaissance into distant space.The reconnaissance into distant space is proposed and the performance is confirmed. The proposed scheme consists of the sequential movement of robots to the destination in the space, and the random walking of them after the arrival at the destination. It is confirmed by computer simulations that in spite of breakages of communication path, the breakages are recovered and the reconnaissance is done successfully.(2)The investigation of wide area exploration.The wide area exploration is proposed and the performance is confirmed. The proposed scheme consists of the classification of robots into search robot (SR) and relay robot (RR) by themselves, and the movement of RR to maintain the communication path between MS and the master SR which the RR selects among SRs. The system performance is confirmed by the computer simulations.(3)The investigation of real time streaming of dynamic picture imageThe synchronized QoS routing is already proposed for real time streaming of dynamic picture images in ad hoc network. However, because of void VCs decrease the rate of successful communication when network topology changes frequently, the conventional scheme is not applicable to the rescue operation. To resolve this problem, the modification of frame structure is proposed in the synchronized QoS routing. The system performance is confirmed by computer simulations.