ENTANGLEMENT DETECTION OF A SWARM OF TETHERED ROBOTS IN SEARCH AND RESCUE APPLICATIONS

T. R. Vishnu Arun Kumar; R. C. Richardson

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Paper

ENTANGLEMENT DETECTION OF A SWARM OF TETHERED ROBOTS IN SEARCH AND RESCUE APPLICATIONS

Topics: Mobile Robots and Autonomous Systems; Surveillance

In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, 143-148, 2007 , Angers, France

Authors: T. R. Vishnu Arun Kumar and R. C. Richardson

Affiliation: School of Computer Science, University of Manchester, United Kingdom

Keyword(s): USAR, swarm of robots, tether, entanglement detection.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Surveillance

Abstract: In urban search and rescue (USAR) applications, robots play a pivotal role. As USAR is time sensitive, swarm of robots is preferred over single robot for victim search. Tethered robots are widely used in USAR applications because tether provides robust data communication and power supply. The problem with using tethers in a collapsed, unstructured environment is tether entanglement. Entanglement detection becomes vital in this scenario. This paper presents a novel, low-cost approach to detect entanglement in the tether connecting two mobile robots. The proposed approach requires neither localization nor an environment map. Experimental results show that the proposed approach is effective in identifying tether entanglement.

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Paper citation in several formats:

R. Vishnu Arun Kumar, T. and C. Richardson, R. (2007). ENTANGLEMENT DETECTION OF A SWARM OF TETHERED ROBOTS IN SEARCH AND RESCUE APPLICATIONS. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 143-148. DOI: 10.5220/0001626001430148

@conference{icinco07,
author={T. {R. Vishnu Arun Kumar}. and R. {C. Richardson}.},
title={ENTANGLEMENT DETECTION OF A SWARM OF TETHERED ROBOTS IN SEARCH AND RESCUE APPLICATIONS},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO},
year={2007},
pages={143-148},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001626001430148},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO
TI - ENTANGLEMENT DETECTION OF A SWARM OF TETHERED ROBOTS IN SEARCH AND RESCUE APPLICATIONS
SN - 978-972-8865-83-2
IS - 2184-2809
AU - R. Vishnu Arun Kumar, T.
AU - C. Richardson, R.
PY - 2007
SP - 143
EP - 148
DO - 10.5220/0001626001430148
PB - SciTePress