Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30848
Designing of Multi-Agent Rescue Robot: Development and Basic Experiments of Master-Slave Type Rescue Robots

Authors: Y. J. Huang, J. D. Yu, T. C. Kuo, J. Lin, C. -Y. Gau, K. C. Liu, Y. W. Lin


A multi-agent type robot for disaster response in calamity scene is proposed in this paper. The proposed grouped rescue robots can perform cooperative reconnaissance and surveillance to achieve a given rescue mission. The multi-agent rescue of dual set robot consists of one master set and three slave units. The research for this rescue robot system is going to detect at harmful environment where human is unreachable, such as the building is infected with virus or the factory has hazardous liquid in effluent. As a dual set robot, with Bluetooth and communication network, the master set can connect with slave units and send information back to computer by wireless and monitor. Therefore, rescuer can be informed the real-time information in a calamity area. Furthermore, each slave robot is able to obstacle avoidance by ultrasonic sensors, and encodes distance and location by compass. The master robot can integrate every devices information to increase the efficiency of prospected and research unknown area.

Keywords: Designing of multi-agent rescue robot, development and basic experiments of master-slave type rescue robots

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1272


[1] R.R. Murphy, S. Tadokoro, D. Nardi, A. Jacoff, P. Fiorini, H. Choset, A.M. Erkmen, "Search and rescue robotics," B. Sicilliano and O. Khatib (eds.), Springer Handbook of Robotics, Springer-Verlag, New York, 2008, pp. 1151-1173.
[6] .html
[7] T. Arai, E. Pagello, L.E. Parker, "Advances in multi-robot systems," IEEE Trans. Robot. Autom., vol. 18, no. 5, pp. 655-661, 2002.
[8] A. Kawakami, A. Torii, and S. Hirose, "Design of SMC rover: development and basic experiments of arm equipped single wheel rover", Proceedings of IEEE/RSJ IROS, 2001.
[9] J. Rogge and D. Aeyels, "Sensor coverage with a multi-robot system," IEEE 22nd International Symposium on Intelligent Control, pp. 71-76, 2007.
[10] A. Cezayirli and F. Kerestecioglu, "Navigation of autonomous mobile robots in connected groups," International Symposium on Communications, Control and Signal Processing, pp. 162-167, 2008.
[11] H. Li, S. X. Yang, and M. L. Seto, "Neural-network-based path planning for a multirobot system with moving obstacles," IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews, vol. 39, no. 4, pp. 410-419, 2009.
[12] L.E. Parker, "Multiple mobile robot systems," B. Sicilliano and O. Khatib (eds.), Springer Handbook of Robotics, Springer-Verlag, New York, 2008, pp. 921-941.
[13] R. Murphy, S. Stover, H. Choset, Lessons learned on the uses of unmanned vehicles from the 2004 Florida hurricane seaon. In: AUVSI Unmanned Systems North America, Baltimore (Association for Unmanned Vehicle Systems International, Arlington 2005)
[14] K.W. Sevick, W.E. Green, P.Y. Oh, "Exploring search-and-rescue in near-earth environments for aerial robots," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 693-698, 2005.
[15] I. Erkmen, A. M. Erkmen, F. Matsuno, R. Chatterjee, and T. Kamegawa, "Snake robots to the rescue," IEEE Robotics & Automation Magazine, vol. 9, no. 3, pp. 17-25, 2002.