title: Searching dynamic agents with a team of mobile robots.
abstract: This paper presents a new algorithm that allows a team of robots to cooperatively search for a set of moving targets. An estimation of the areas of the environment that are more likely to hold a target agent is obtained using a grid-based Bayesian filter. The robot sensor readings and the maximum speed of the moving targets are used in order to update the grid. This representation is used in a search algorithm that commands the robots to those areas that are more likely to present target agents. This algorithm splits the environment in a tree of connected regions using dynamic programming. This tree is used in order to decide the destination for each robot in a coordinated manner. The algorithm has been successfully tested in known and unknown environments showing the validity of the approach.
authors.affiliation: Systems Engineering and Automation Department, Miguel Hernandez University of Elche, Avda. Universidad s/n. Edif. Quorum V, 03202 Elche, Alicante, Spain. mjulia@umh.es
authors.forename: Miguel
authors.initials: M
authors.lastname: Juliá
authors.forename: Arturo
authors.initials: A
authors.lastname: Gil
authors.forename: Oscar
authors.initials: O
authors.lastname: Reinoso