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• W85537259 abstract "Motivated by the modern availability of drones and unmanned surface vessels as well as other low cost search agents, we consider the problem of a swarm of robots searching for a target on the high seas. Coordinating such a search in an effective manner is a non trivial task. In this paper we fully address this problem by first developing an abstract model which allows us to understand searches at sea under ideal conditions, and then apply the abstract model under actual search conditions such as differential search speeds, arrival times to the search area and low probability of detection under poor visibility conditions. We show that the theoretical model still governs the search with suitable adaptations. Lastly we give several search scenarios showing the cost effectiveness of such searches, deriving from lower cost and higher precision in the search. I. INTRODUCTION Historically, searches were conducted using a limited number (at most a handful) of vessels and aircrafts. This placed heavy constraints in the type of solutions that could be considered, and this is duly reflected in the modern search and rescue literature (6), (7), (8), (9). However, the comparably low cost of surface or underwa- ter unmanned vessels allows for searches using hundreds, if not thousands of vessels. For example, the cost of an unmanned search vehicle is in the order of tens of thousands of dollars (4) which can be amortized over hundreds of searches, while the cost of conventional searches range from the low hundred thousands of dollars up to sixty million dollars for high profile searches such as Malaysia Airlines MH370 and Air France 447. This suggests that somewhere in the order of a few hundred to a few tens of thousands of robots can be realistically brought to bear in such a search. Motivated by this consideration we propose search and rescue strategies for the high seas using a large number of agents in an intelligent coordinated swarm fashion. Coordinating such a search in an effective manner is referred to as a difficult task in the search and rescue literature (5), (13), (14). In this paper we develop (1) an abstract model which allows us to understand searches at sea under ideal conditions, and (2) we progressively incorporate realistic assumptions in the model, specifically different search speeds, different arrival times to the search target and poor visibility conditions. We show that the initial key idea still governs the search under these conditions subject to a few minor adaptations. Lastly we give several search scenarios showing the cost effectiveness of such searches, deriving from lower cost of robot search hardware and higher precision in the search. We begin with the theoretical model for two and four robots of L´" @default.
• W85537259 created "2016-06-24" @default.
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• W85537259 date "2014-10-04" @default.
• W85537259 modified "2023-10-18" @default.
• W85537259 title "Optimal Strategies for Search and Rescue Operations with Robot Swarms" @default.
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