Amsterdam Oxford Joint Rescue Forces − Team Description Paper − Virtual Robot competition − Rescue Simulation League − RoboCup 2008

Abstract

With the progress made in active exploration, the robots of the Joint Rescue Forces are capable of making deliberative decisions about the frontiers to be explored. The robots select the frontiers having maximum information gain, taking into account potential communication limitations. The robots incorporate the positions of their team mates into their decisions, to optimize the gain for the team as a whole. Active exploration is based on a shared occupancy map, which is generated online. The images of the omnidirectional camera can be used to automatically detect victims and to add additional information to the map.