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

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

2007

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.

Paper Citation

in Harvard Style

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, pages 143-148. DOI: 10.5220/0001626001430148

in Bibtex Style

@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},
}

in EndNote Style

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
AU - R. Vishnu Arun Kumar T.
AU - C. Richardson R.
PY - 2007
SP - 143
EP - 148
DO - 10.5220/0001626001430148