Acronym RESCUE
Funding Reference FCT SRI/32546/99-00
URL http://rescue.isr.ist.utl.pt
Dates 2000|2004
Summary

This project fosters research on multi-agent robotic systems for search and rescue operations as its long-term goal. Currently, the project is focused on obtaining new results on outdoors perception and navigation, both for individual and cooperative robots.
In this period, the work focused on topological navigation of the ATRV-Jr land robot comprising the construction of a topologic map supported on features extracted and selected from raw data acquired with a video camera and a laser scanner, a module of topological localization and the selection of a path in the topological map aiming at optimizing a given criteria.
Other work within the project concerned the usage of discrete event systems to model the navigation of a homogeneous population of mobile robots moving in an environment composed of a number of discrete sites. Results that relate the blocking and controllability properties of the automaton modeling the complete system with the blocking and controllability properties of the smaller dimension automata modeling each robot navigating in the environment were derived.
An agent-based software architecture that intends to close the gap between hybrid systems and software agent architectures was conceived and partially implemented. The developed concepts and tools provide support for: task design, task planning, task execution, task coordination and task analysis for a multi- robot system.

Research Groups Computer and Robot Vision Lab (VisLab)
Intelligent Robots and Systems Group (IRSg)
ISR/IST Responsible
Pedro Lima
People
Miguel Arroz
Pedro Pinheiro
João Frazão
Manuel Lopes
Francisco Melo
Luís Custódio
Isabel Ribeiro
Rodrigo Ventura
José Santos-Victor
Alexandre Bernardino
Alberto Vale
Vasco Pires
[1] Joao Costal, Formacoes de Robots Aereos e Terrestres, Final Year and RESCUE Project Technical Report, IST Aerospace Engineering degree, 2004
[2] Francisco Melo, Isabel Ribeiro, Pedro Lima, Blocking Controllability of a Mobile Robot Population, Relatorio Tecnico, RT-601-04, Instituto de Sistemas e Robotica, Polo do Instituto Superior Tecnico, 2004 - PDF
[3] Alexandre Bernardino, Luís Custódio, João Frazão, Pedro Lima, Francisco Melo, Isabel Ribeiro, José Santos-Victor, Alberto Vale, RESCUE Project Final Report, ISR Technical Report, 2004
[4] Lorenz Gertsmayr, Alexandre Bernardino, José Santos-Victor, Appearance based landmark selection and Reliability Evaluation for Topological Navigation, Proc. IAV 2004 - 4th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, 2004 - PDF
[5] Alberto Vale, Jose Miguel Lucas, Isabel Ribeiro, Feature Extraction and Selection for Mobile Robot Navigation in Unstructured Environments, Proc. IAV 2004 - 5th IFAC/Euron Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, 2004 - PDF
[6] João Frazão, Pedro Lima, Agent-Based Software Architecture for Multi-Robot Teams, Proc. IAV 2004 - 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, 2004 - PDF
[7] Francisco Melo, Isabel Ribeiro, Pedro Lima, Navigation Controllability of a Mobile Robot Population, Proc. RoboCup 2004 Symposium, Lisbon, Portugal, 2004 - PDF
[8] Thomas Krause, Pedro Lima, Peter Protzel, Flugregler fur ein autonomes Luftschiff (, Proc. German Conference on Autonomous Mobile Systems, Karlsruhe, Germany, 2003 - PDF
[9] Pedro Pinheiro, Pedro Lima, Bayesian Sensor Fusion for Cooperative Object Localization and World Modeling, Proc. 8th Conference on Intelligent Autonomous Systems, IAS-8, Amsterdam, The Netherlands, 2004 - PDF
[10] Vasco Pires, Miguel Arroz, Luís Custódio, Logic Based Hybrid Decision System for a Multi-robot Team, Proc. 8th Conference on Intelligent Autonomous Systems, Amsterdam, The Netherlands, 2004 - PDF
[11] Francisco Melo, Pedro Lima, Isabel Ribeiro, Event-driven Modelling and Control of a Mobile Robot Population, Proc. IAS8 - 8th Conference on Intelligent Autonomous Systems, Amsterdam, The Netherlands. pp. 237-244, 2004 - PDF
[12] Alberto Vale, Isabel Ribeiro, Environment Mapping as a Topological Representation, Proc. of ICAR2003 - 11th International Conference on Advanced Robotics, Coimbra, Portugal, Vol. 1, pp.29-34, 2003 - PDF
[13] Pedro Lima, Luís Custódio, Isabel Ribeiro, José Santos-Victor, The RESCUE Project: Cooperative Navigation for Rescue Robots, Proceedings do 1st International Workshop on Advances in Service Robotics, ASER’03, Bardolino, Italia, pp. 94-101, 2003 - PDF
[14] Alberto Vale, Isabel Ribeiro, A Probabilistic Approach for the Localization of Mobile Robots in Topological Maps, Proceedings da 10th IEEE Mediterranean Conference on Control and Automation, Lisbon, Portugal, 2002 - PDF
[15] P. Tabuada, G. J. Pappas, Pedro Lima, Hybrid abstractions: A search and rescue case study, Proc. ECC2001 - European Control Conference, Porto, Portugal, 2001 - PDF